diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 781fde07fed..0dcd7a72736 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -95,7 +95,10 @@
 #include <vtkTIFFReader.h>
 #include <vtkLookupTable.h>
 #include <vtkTextureUnitManager.h>
+
+#if VTK_MAJOR_VERSION > 5
 #include <vtkTexture.h>
+#endif
 
 #include <pcl/visualization/common/shapes.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -3520,6 +3523,9 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
                 texture_units, mesh.tex_materials.size ());
     // Load textures
     std::size_t last_tex_id = std::min (static_cast<int> (mesh.tex_materials.size ()), texture_units);
+  #if VTK_MAJOR_VERSION <= 5
+    int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
+  #endif
     std::size_t tex_id = 0;
     while (tex_id < last_tex_id)
     {
@@ -3551,12 +3557,25 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
           for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
             coordinates->InsertNextTuple2 (-1.0, -1.0);
 
+    #if VTK_MAJOR_VERSION > 5
       mapper->MapDataArrayToMultiTextureAttribute(mesh.tex_materials[tex_id].tex_name.c_str (),
                                                   this_coordinates_name.c_str (),
                                                   vtkDataObject::FIELD_ASSOCIATION_POINTS);
+    #else
+      mapper->MapDataArrayToMultiTextureAttribute(tu,
+                                                  this_coordinates_name.c_str (),
+                                                  vtkDataObject::FIELD_ASSOCIATION_POINTS);
+    #endif
       polydata->GetPointData ()->AddArray (coordinates);
+    #if VTK_MAJOR_VERSION > 5
       actor->GetProperty ()->SetTexture (mesh.tex_materials[tex_id].tex_name.c_str (), texture);
+    #else
+      actor->GetProperty ()->SetTexture (tu, texture);
+    #endif
       ++tex_id;
+    #if VTK_MAJOR_VERSION <= 5
+      ++tu;
+    #endif
     }
   } // end of multi texturing
   else