diff --git a/visualization/include/pcl/visualization/common/common.h b/visualization/include/pcl/visualization/common/common.h
index 5d1922971f0..4b6bd405ed0 100644
--- a/visualization/include/pcl/visualization/common/common.h
+++ b/visualization/include/pcl/visualization/common/common.h
@@ -100,7 +100,8 @@ namespace pcl
       PCL_VISUALIZER_COLOR,
       PCL_VISUALIZER_REPRESENTATION,
       PCL_VISUALIZER_IMMEDIATE_RENDERING,
-      PCL_VISUALIZER_SHADING
+      PCL_VISUALIZER_SHADING,
+      PCL_VISUALIZER_LUT
     };
 
     enum RenderingRepresentationProperties
@@ -117,6 +118,17 @@ namespace pcl
       PCL_VISUALIZER_SHADING_PHONG
     };
 
+    /*! Look up table for color representation of vtkPolyDataMapper.\n
+     * See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for images representations of the LUTs */
+    enum LookUpTableRepresentationProperties
+    { //
+      PCL_VISUALIZER_LUT_JET,
+      PCL_VISUALIZER_LUT_JET_INVERSE,
+      PCL_VISUALIZER_LUT_HSV,
+      PCL_VISUALIZER_LUT_HSV_INVERSE,
+      PCL_VISUALIZER_LUT_GREY
+    };
+
     //////////////////////////////////////////////////////////////////////////////////////////////
     /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
     class PCL_EXPORTS Camera
diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
index b60dc646c5c..baf70a209b7 100644
--- a/visualization/include/pcl/visualization/pcl_visualizer.h
+++ b/visualization/include/pcl/visualization/pcl_visualizer.h
@@ -1403,6 +1403,18 @@ namespace pcl
                               const std::string &id = "PolyData",
                               int viewport = 0);
 
+        /** \brief Add a vtkPolyDataMapper as a mesh
+         * \param[in] polydatamapper vtkPolyDataMapper
+         * \param[in] id the model id/name (default: "PolyDataMapper")
+         * \param[in] viewport (optional) the id of the new viewport (default: 0)
+         * \return True if successful, false otherwise
+         * \note This allows to display a colored mesh, also see \ref PCL_VISUALIZER_LUT.
+         */
+       bool
+       addModelFromPolyData (vtkSmartPointer<vtkPolyDataMapper> polydatamapper,
+                             const std::string & id = "PolyDataMapper",
+                             int viewport = 0);
+
         /** \brief Add a PLYmodel as a mesh
           * \param[in] filename of the ply file
           * \param[in] id the model id/name (default: "PLYModel")
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index d869ee19cd7..52d80e4740c 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -91,6 +91,7 @@
 #include <vtkPNMReader.h>
 #include <vtkPNGReader.h>
 #include <vtkTIFFReader.h>
+#include <vtkLookupTable.h>
 
 #include <pcl/visualization/common/shapes.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -1575,6 +1576,52 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
       actor->Modified ();
       break;
     }
+    case PCL_VISUALIZER_LUT:
+    {
+      // Check if the mapper has scalars
+      if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+        break;
+
+      double range[2];
+      actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->GetRange (range);
+      actor->GetMapper ()->ScalarVisibilityOn ();
+      actor->GetMapper ()->SetScalarRange (range[0], range[1]);
+      vtkSmartPointer<vtkLookupTable> table = vtkSmartPointer<vtkLookupTable>::New ();
+      table->SetRange (range[0], range[1]);
+
+      switch (int (value))
+      {
+        case PCL_VISUALIZER_LUT_JET:
+          table->SetHueRange (0, 0.667);
+          table->SetSaturationRange (1, 1);
+          table->SetAlphaRange (1, 1);
+          break;
+        case PCL_VISUALIZER_LUT_JET_INVERSE:
+          table->SetHueRange (0.667, 0);
+          table->SetSaturationRange (1, 1);
+          table->SetAlphaRange (1, 1);
+          break;
+        case PCL_VISUALIZER_LUT_HSV:
+          table->SetHueRange (0, 1);
+          table->SetSaturationRange (1, 1);
+          table->SetAlphaRange (1, 1);
+          break;
+        case PCL_VISUALIZER_LUT_HSV_INVERSE:
+          table->SetHueRange (1, 0);
+          table->SetSaturationRange (1, 1);
+          table->SetAlphaRange (1, 1);
+          break;
+        case PCL_VISUALIZER_LUT_GREY:
+          table->SetValueRange (0, 1);
+          table->SetHueRange (0, 0);
+          table->SetSaturationRange (0, 0);
+          table->SetAlphaRange (1, 1);
+          break;
+      }
+      table->Build ();
+      actor->GetMapper ()->SetLookupTable (table);
+      break;
+    }
     default:
     {
       pcl::console::print_error ("[setShapeRenderingProperties] Unknown property (%d) specified!\n", property);
@@ -2194,6 +2241,37 @@ pcl::visualization::PCLVisualizer::addModelFromPolyData (
   return (true);
 }
 
+////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::addModelFromPolyData (vtkSmartPointer<vtkPolyDataMapper> polydatamapper,
+                                                         const std::string & id,
+                                                         int viewport)
+{
+  if (contains (id))
+  {
+    pcl::console::print_warn (stderr,
+                              "[addModelFromPolyData] A shape with id <%s> already exists! Please choose a different id and retry.\n",
+                              id.c_str ());
+    return (false);
+  }
+
+  // Check if mesh has color information
+  if (polydatamapper->GetInput ()->GetPointData ()->GetScalars ())
+  {
+    double range[2];
+    polydatamapper->GetInput ()->GetPointData ()->GetScalars ()->GetRange (range);
+    polydatamapper->ScalarVisibilityOn ();
+    polydatamapper->SetScalarRange (range[0], range[1]);
+  }
+
+  vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New ();
+  actor->SetMapper (polydatamapper);
+  addActorToRenderer (actor, viewport);
+
+  // Save the pointer/ID pair to the global actor map
+  (*shape_actor_map_)[id] = actor;
+  return (true);
+}
 
 ////////////////////////////////////////////////////////////////////////////////////////////
 bool