diff --git a/PCLVisualizer.lua b/PCLVisualizer.lua
index f3fd8f9..96b6e1c 100644
--- a/PCLVisualizer.lua
+++ b/PCLVisualizer.lua
@@ -28,8 +28,11 @@ local function init()
     'updatePointCloudPose',
     'updateShapePose',
     'removeAllPointClouds',
+    'removePointCloud',
     'removeAllShapes',
+    'removeShape',
     'removeAllCoordinateSystems',
+    'removeCoordinateSystem',
     'addText1',
     'addText2',
     'addText3',
@@ -186,14 +189,26 @@ function PCLVisualizer:removeAllPointClouds(viewport)
   return self.f.removeAllPointClouds(self.o, viewport or 0)
 end
 
+function PCLVisualizer:removePointCloud(id, viewport)
+  return self.f.removePointCloud(self.o, id or 'cloud', viewport or 0)
+end
+
 function PCLVisualizer:removeAllShapes(viewport)
   return self.f.removeAllShapes(self.o, viewport or 0)
 end
 
+function PCLVisualizer:removeShape(id, viewport)
+  return self.f.removeShape(self.o, id or 'cloud', viewport or 0)
+end
+
 function PCLVisualizer:removeAllCoordinateSystems(viewport)
   return self.f.removeAllCoordinateSystems(self.o, viewport or 0)
 end
 
+function PCLVisualizer:removeCoordinateSystem(id, viewport)
+  return self.f.removeCoordinateSystem(self.o, id or "reference", viewport or 0)
+end
+
 function PCLVisualizer:addText1(text, xpos, ypos, id, viewport)
   return self.f.addText1(self.o, text, xpos, ypos, id or 'text', viewport or 0)
 end
diff --git a/PointTypes.lua b/PointTypes.lua
index fcc9b57..f14fe87 100644
--- a/PointTypes.lua
+++ b/PointTypes.lua
@@ -529,8 +529,11 @@ void pcl_PCLVisualizer_setBackgroundColor(PCLVisualizer *self, double r, double
 bool pcl_PCLVisualizer_updatePointCloudPose(PCLVisualizer *self, const char *id, THFloatTensor *transform);
 bool pcl_PCLVisualizer_updateShapePose(PCLVisualizer *self, const char *id, THFloatTensor *transform);
 bool pcl_PCLVisualizer_removeAllPointClouds(PCLVisualizer *self, int viewport);
+bool pcl_PCLVisualizer_removePointCloud(PCLVisualizer *self, const char *id, int viewport);
 bool pcl_PCLVisualizer_removeAllShapes(PCLVisualizer *self, int viewport);
+bool pcl_PCLVisualizer_removeShape(PCLVisualizer *self, const char *id, int viewport);
 bool pcl_PCLVisualizer_removeAllCoordinateSystems(PCLVisualizer *self, int viewport);
+bool pcl_PCLVisualizer_removeCoordinateSystem(PCLVisualizer *self, const char *id, int viewport);
 bool pcl_PCLVisualizer_addText1(PCLVisualizer *self, const char *text, int xpos, int ypos, const char *id, int viewport);
 bool pcl_PCLVisualizer_addText2(PCLVisualizer *self, const char *text, int xpos, int ypos, double r, double g, double b, const char *id, int viewport);
 bool pcl_PCLVisualizer_addText3(PCLVisualizer *self, const char *text, int xpos, int ypos, int fontsize, double r, double g, double b, const char *id, int viewport);
diff --git a/src/visualizer.cpp b/src/visualizer.cpp
index 06d3dc5..33677df 100644
--- a/src/visualizer.cpp
+++ b/src/visualizer.cpp
@@ -86,16 +86,31 @@ PCLIMP(bool, PCLVisualizer, removeAllPointClouds)(PCLVisualizer_ptr *self, int v
   return (*self)->removeAllPointClouds(viewport);
 }
 
+PCLIMP(bool, PCLVisualizer, removePointCloud)(PCLVisualizer_ptr *self, const char *id = "cloud", int viewport = 0)
+{
+  return (*self)->removePointCloud(id, viewport);
+}
+
 PCLIMP(bool, PCLVisualizer, removeAllShapes)(PCLVisualizer_ptr *self, int viewport = 0)
 {
   return (*self)->removeAllShapes(viewport);
 }
 
+PCLIMP(bool, PCLVisualizer, removeShape)(PCLVisualizer_ptr *self, const char *id = "cloud", int viewport = 0)
+{
+  return (*self)->removeShape(id, viewport);
+}
+
 PCLIMP(bool, PCLVisualizer, removeAllCoordinateSystems)(PCLVisualizer_ptr *self, int viewport = 0)
 {
   return (*self)->removeAllCoordinateSystems(viewport);
 }
 
+PCLIMP(bool, PCLVisualizer, removeCoordinateSystem)(PCLVisualizer_ptr *self, const char *id = "reference", int viewport = 0)
+{
+  return (*self)->removeCoordinateSystem(id, viewport);
+}
+
 PCLIMP(bool, PCLVisualizer, addText1)(PCLVisualizer_ptr *self, const char *text, int xpos, int ypos, const char *id = "", int viewport = 0)
 {
   return (*self)->addText(text, xpos, ypos, id, viewport);