Absolute knowledge about the magnetic field orientation plays a crucial role in single spin based quantum magnetometry as well as its application toward spin-based quantum computation. In this paper, we reconstruct the 3D orientation of an arbitrary static magnetic field with the help of individual nitrogen vacancy (NV) centers in diamond. We determine both, the polar and the azimuthal angle of the magnetic field orientation relative to the diamond lattice. To do so, we use information from the photoluminescence anisotropy of the NV center, as well as from a simple pulsed Optically 1 arXiv:1910.03889v2 [quant-ph] 19 Nov 2019 Detected Magnetic Resonance (ODMR) experiment. Our nanoscopic magnetic field determination is generally applicable and does not rely on special prerequisites such as strongly coupled nuclear spins or a special controllable magnetic field. Hence, our presented results open up new paths for precise NMR reconstructions and the modulation of the electron-electron spin interaction in EPR measurements by specifically tailored magnetic fields.