diff --git a/surface/include/pcl/surface/impl/texture_mapping.hpp b/surface/include/pcl/surface/impl/texture_mapping.hpp
index eb5424395a6..6d8dfff91f1 100644
--- a/surface/include/pcl/surface/impl/texture_mapping.hpp
+++ b/surface/include/pcl/surface/impl/texture_mapping.hpp
@@ -1042,12 +1042,29 @@ pcl::TextureMapping<PointInT>::getPointUVCoordinates(const pcl::PointXYZ &pt, co
     // compute image center and dimension
     double sizeX = cam.width;
     double sizeY = cam.height;
-    double cx = sizeX / 2.0;
-    double cy = sizeY / 2.0;
+    double cx, cy;
+    if (cam.center_w > 0)
+      cx = cam.center_w;
+    else
+      cx = sizeX / 2.0;
+    if (cam.center_h > 0)
+      cy = cam.center_h;
+    else
+      cy = sizeY / 2.0;
+
+    double focal_x, focal_y; 
+    if (cam.focal_length_w > 0)
+      focal_x = cam.focal_length_w;
+    else
+      focal_x = cam.focal_length;
+    if (cam.focal_length_h > 0)
+      focal_y = cam.focal_length_h;
+    else
+      focal_y = cam.focal_length;
 
     // project point on camera's image plane
-    UV_coordinates.x = static_cast<float> ((cam.focal_length * (pt.x / pt.z) + cx) / sizeX); //horizontal
-    UV_coordinates.y = 1.0f - static_cast<float> ((cam.focal_length * (pt.y / pt.z) + cy) / sizeY); //vertical
+    UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
+    UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
 
     // point is visible!
     if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
diff --git a/surface/include/pcl/surface/texture_mapping.h b/surface/include/pcl/surface/texture_mapping.h
index e706326a264..026dd9d1152 100644
--- a/surface/include/pcl/surface/texture_mapping.h
+++ b/surface/include/pcl/surface/texture_mapping.h
@@ -50,12 +50,26 @@ namespace pcl
   namespace texture_mapping
   {
         
-    /** \brief Structure to store camera pose and focal length. */
+    /** \brief Structure to store camera pose and focal length. 
+      *
+      * One can assign a value to focal_length, to be used along 
+      * both camera axes or, optionally, axis-specific values 
+      * (focal_length_w and focal_length_h). Optionally, one can 
+      * also specify center-of-focus using parameters
+      * center_w and center_h. If the center-of-focus is not 
+      * specified, it will be set to the geometric center of 
+      * the camera, as defined by the width and height parameters.
+      */
     struct Camera
     {
-      Camera () : pose (), focal_length (), height (), width (), texture_file () {}
+      Camera () : pose (), focal_length (), focal_length_w (-1), focal_length_h (-1),
+        center_w (-1), center_h (-1), height (), width (), texture_file () {}
       Eigen::Affine3f pose;
       double focal_length;
+      double focal_length_w;  // optional
+      double focal_length_h;  // optinoal
+      double center_w;  // optional
+      double center_h;  // optional
       double height;
       double width;
       std::string texture_file;
@@ -187,11 +201,25 @@ namespace pcl
           // compute image center and dimension
           double sizeX = cam.width;
           double sizeY = cam.height;
-          double cx = (sizeX) / 2.0;
-          double cy = (sizeY) / 2.0;
-
-          double focal_x = cam.focal_length;
-          double focal_y = cam.focal_length;
+          double cx, cy;
+          if (cam.center_w > 0)
+            cx = cam.center_w;
+          else
+            cx = (sizeX) / 2.0;
+          if (cam.center_h > 0)
+            cy = cam.center_h;
+          else
+            cy = (sizeY) / 2.0;
+
+          double focal_x, focal_y;
+          if (cam.focal_length_w > 0)
+            focal_x = cam.focal_length_w;
+          else
+            focal_x = cam.focal_length;
+          if (cam.focal_length_h>0)
+            focal_y = cam.focal_length_h;
+          else
+            focal_y = cam.focal_length;
 
           // project point on image frame
           UV_coordinates[0] = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal