diff --git a/filters/src/voxel_grid.cpp b/filters/src/voxel_grid.cpp
index aebe2ee2ab5..4c1566da570 100644
--- a/filters/src/voxel_grid.cpp
+++ b/filters/src/voxel_grid.cpp
@@ -38,7 +38,6 @@
  *
  */
 
-#include <iostream>
 #include <limits>
 #include <pcl/common/io.h>
 #include <pcl/filters/impl/voxel_grid.hpp>
diff --git a/geometry/include/pcl/geometry/mesh_circulators.h b/geometry/include/pcl/geometry/mesh_circulators.h
index 198e238ad2d..40f1fa0727a 100644
--- a/geometry/include/pcl/geometry/mesh_circulators.h
+++ b/geometry/include/pcl/geometry/mesh_circulators.h
@@ -43,9 +43,10 @@
 
 #pragma once
 
-#include <pcl/geometry/boost.h>
 #include <pcl/geometry/mesh_indices.h>
 
+#include <boost/operators.hpp>
+
 ////////////////////////////////////////////////////////////////////////////////
 // VertexAroundVertexCirculator
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/geometry/include/pcl/geometry/mesh_circulators.py b/geometry/include/pcl/geometry/mesh_circulators.py
index d57bfc623bc..121fb7a6214 100644
--- a/geometry/include/pcl/geometry/mesh_circulators.py
+++ b/geometry/include/pcl/geometry/mesh_circulators.py
@@ -120,8 +120,8 @@ def __init__ (self, value_prefix, value_type, around_type, current_he, deref, in
 f.write ('#ifndef PCL_GEOMETRY_MESH_CIRCULATORS_H\n')
 f.write ('#define PCL_GEOMETRY_MESH_CIRCULATORS_H\n\n')
 
-f.write ('#include <pcl/geometry/boost.h>\n')
 f.write ('#include <pcl/geometry/mesh_indices.h>\n\n')
+f.write ('#include <boost/operators.hpp>\n\n')
 
 for c in classes:
 
diff --git a/io/include/pcl/io/low_level_io.h b/io/include/pcl/io/low_level_io.h
index 9fd4e9d26bf..7cc26fd95c9 100644
--- a/io/include/pcl/io/low_level_io.h
+++ b/io/include/pcl/io/low_level_io.h
@@ -62,7 +62,7 @@ using ssize_t = SSIZE_T;
 # include <sys/mman.h>
 # include <sys/types.h>
 # include <sys/stat.h>
-# include <sys/fcntl.h>
+# include <fcntl.h>
 # include <cerrno>
 #endif
 #include <cstddef>
diff --git a/io/src/image_yuv422.cpp b/io/src/image_yuv422.cpp
index ec4d302edb3..e3db61c1502 100644
--- a/io/src/image_yuv422.cpp
+++ b/io/src/image_yuv422.cpp
@@ -39,9 +39,6 @@
 
 #include <pcl/io/io_exception.h>
 
-#include <sstream>
-#include <iostream>
-
 #define CLIP_CHAR(c) static_cast<unsigned char> ((c)>255?255:(c)<0?0:(c))
 
 using pcl::io::FrameWrapper;
diff --git a/io/src/openni_camera/openni_device.cpp b/io/src/openni_camera/openni_device.cpp
index d93bfb20738..a7d8f023438 100644
--- a/io/src/openni_camera/openni_device.cpp
+++ b/io/src/openni_camera/openni_device.cpp
@@ -48,7 +48,6 @@
 #include <pcl/io/openni_camera/openni_depth_image.h>
 #include <pcl/io/openni_camera/openni_ir_image.h>
 #include <pcl/io/openni_camera/openni_image.h>
-#include <map>
 #include <vector>
 #include "XnVersion.h"
 
diff --git a/ml/include/pcl/ml/branch_estimator.h b/ml/include/pcl/ml/branch_estimator.h
index 30af64bbf96..a6c711bdc19 100644
--- a/ml/include/pcl/ml/branch_estimator.h
+++ b/ml/include/pcl/ml/branch_estimator.h
@@ -41,9 +41,6 @@
 #include <pcl/common/utils.h> // pcl::utils::ignore
 #include <pcl/ml/stats_estimator.h>
 
-#include <istream>
-#include <ostream>
-
 namespace pcl {
 
 /** Interface for branch estimators. */
diff --git a/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp b/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp
index f1cb632c645..863b8c074a9 100644
--- a/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp
+++ b/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp
@@ -46,7 +46,6 @@
 #include <ctime>
 
 // Boost
-#include <pcl/outofcore/boost.h>
 #include <boost/random/bernoulli_distribution.hpp>
 #include <boost/random/uniform_int.hpp>
 #include <boost/uuid/uuid_io.hpp>
diff --git a/outofcore/include/pcl/outofcore/metadata.h b/outofcore/include/pcl/outofcore/metadata.h
index c7939f801f1..7477dcf45ec 100644
--- a/outofcore/include/pcl/outofcore/metadata.h
+++ b/outofcore/include/pcl/outofcore/metadata.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <pcl/outofcore/boost.h>
+#include <boost/filesystem.hpp>
 #include <vector>
 #include <ostream>
 
diff --git a/outofcore/include/pcl/outofcore/octree_abstract_node_container.h b/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
index 5d0ec0be05d..c6d6399796c 100644
--- a/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
+++ b/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
@@ -38,11 +38,11 @@
 
 #pragma once
 
+#include <boost/filesystem.hpp>
+
 #include <mutex>
 #include <vector>
 
-#include <pcl/outofcore/boost.h>
-
 namespace pcl
 {
   namespace outofcore
diff --git a/outofcore/include/pcl/outofcore/octree_base.h b/outofcore/include/pcl/outofcore/octree_base.h
index 5cac314f833..ad24e336bdc 100644
--- a/outofcore/include/pcl/outofcore/octree_base.h
+++ b/outofcore/include/pcl/outofcore/octree_base.h
@@ -39,7 +39,6 @@
 
 #pragma once
 
-#include <pcl/outofcore/boost.h>
 #include <pcl/common/io.h>
 
 //outofcore classes
diff --git a/outofcore/include/pcl/outofcore/octree_base_node.h b/outofcore/include/pcl/outofcore/octree_base_node.h
index 92cf21f38c1..fd447bbb0e6 100644
--- a/outofcore/include/pcl/outofcore/octree_base_node.h
+++ b/outofcore/include/pcl/outofcore/octree_base_node.h
@@ -46,7 +46,6 @@
 #include <pcl/common/io.h>
 #include <pcl/PCLPointCloud2.h>
 
-#include <pcl/outofcore/boost.h>
 #include <pcl/outofcore/octree_base.h>
 #include <pcl/outofcore/octree_disk_container.h>
 #include <pcl/outofcore/outofcore_node_data.h>
diff --git a/outofcore/include/pcl/outofcore/octree_disk_container.h b/outofcore/include/pcl/outofcore/octree_disk_container.h
index 99d07a47d6f..a0d89a709b4 100644
--- a/outofcore/include/pcl/outofcore/octree_disk_container.h
+++ b/outofcore/include/pcl/outofcore/octree_disk_container.h
@@ -47,7 +47,6 @@
 #include <boost/uuid/random_generator.hpp>
 
 #include <pcl/common/utils.h> // pcl::utils::ignore
-#include <pcl/outofcore/boost.h>
 #include <pcl/outofcore/octree_abstract_node_container.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/PCLPointCloud2.h>
diff --git a/outofcore/include/pcl/outofcore/octree_ram_container.h b/outofcore/include/pcl/outofcore/octree_ram_container.h
index 9894f7b9d68..23124bdedf7 100644
--- a/outofcore/include/pcl/outofcore/octree_ram_container.h
+++ b/outofcore/include/pcl/outofcore/octree_ram_container.h
@@ -43,7 +43,6 @@
 #include <mutex>
 #include <random>
 
-#include <pcl/outofcore/boost.h>
 #include <pcl/outofcore/octree_abstract_node_container.h>
 
 namespace pcl
diff --git a/outofcore/include/pcl/outofcore/outofcore_base_data.h b/outofcore/include/pcl/outofcore/outofcore_base_data.h
index a1a777b0283..67f41e43134 100644
--- a/outofcore/include/pcl/outofcore/outofcore_base_data.h
+++ b/outofcore/include/pcl/outofcore/outofcore_base_data.h
@@ -40,7 +40,6 @@
 
 #include <pcl/memory.h>
 #include <pcl/pcl_macros.h>
-#include <pcl/outofcore/boost.h>
 #include <pcl/outofcore/cJSON.h>
 
 #include <pcl/outofcore/metadata.h>
diff --git a/outofcore/include/pcl/outofcore/outofcore_node_data.h b/outofcore/include/pcl/outofcore/outofcore_node_data.h
index 54523791a24..2627436e7e4 100644
--- a/outofcore/include/pcl/outofcore/outofcore_node_data.h
+++ b/outofcore/include/pcl/outofcore/outofcore_node_data.h
@@ -40,11 +40,12 @@
 
 #include <pcl/memory.h>
 #include <pcl/pcl_macros.h>
-#include <pcl/outofcore/boost.h>
 #include <pcl/outofcore/cJSON.h>
 
 #include <pcl/common/eigen.h>
 
+#include <boost/filesystem.hpp>
+
 #include <ostream>
 
 namespace pcl
diff --git a/outofcore/src/visualization/camera.cpp b/outofcore/src/visualization/camera.cpp
index 2529e129c04..cf051c38bbf 100644
--- a/outofcore/src/visualization/camera.cpp
+++ b/outofcore/src/visualization/camera.cpp
@@ -13,9 +13,7 @@
 #include <vtkActor.h>
 #include <vtkCamera.h>
 #include <vtkCameraActor.h>
-#include <vtkHull.h>
 #include <vtkPlanes.h>
-#include <vtkPolyData.h>
 #include <vtkPolyDataMapper.h>
 #include <vtkProperty.h>
 #include <vtkSmartPointer.h>
diff --git a/outofcore/src/visualization/grid.cpp b/outofcore/src/visualization/grid.cpp
index 05c8ef049fd..e2b54df4bd6 100644
--- a/outofcore/src/visualization/grid.cpp
+++ b/outofcore/src/visualization/grid.cpp
@@ -3,7 +3,6 @@
 #include <pcl/outofcore/visualization/grid.h>
 
 // VTK
-#include <vtkVersion.h>
 #include <vtkActor.h>
 #include <vtkRectilinearGrid.h>
 #include <vtkDoubleArray.h>
diff --git a/recognition/include/pcl/recognition/implicit_shape_model.h b/recognition/include/pcl/recognition/implicit_shape_model.h
index 1671fe8233b..1b1c86a3ed7 100644
--- a/recognition/include/pcl/recognition/implicit_shape_model.h
+++ b/recognition/include/pcl/recognition/implicit_shape_model.h
@@ -43,7 +43,6 @@
 #include <pcl/point_types.h>
 #include <pcl/point_representation.h>
 #include <pcl/features/feature.h>
-#include <pcl/features/spin_image.h>
 #include <pcl/kdtree/kdtree_flann.h> // for KdTreeFLANN
 
 namespace pcl
diff --git a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
index 9138c46f530..9e67b261f69 100644
--- a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
+++ b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
@@ -42,7 +42,6 @@
 #include <pcl/common/common.h>
 #include <pcl/common/io.h>
 #include <pcl/filters/morphological_filter.h>
-#include <pcl/filters/extract_indices.h>
 #include <pcl/segmentation/approximate_progressive_morphological_filter.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
diff --git a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
index b2569969ef7..38f2cd59cda 100644
--- a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
+++ b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
@@ -46,6 +46,7 @@
 #include <flann/algorithms/linear_index.h>  // for flann::LinearIndexParams
 #include <flann/util/matrix.h>              // for flann::Matrix
 
+#include <pcl/features/normal_3d.h> // for NormalEstimation
 #include <pcl/segmentation/unary_classifier.h>
 #include <pcl/common/io.h>
 
diff --git a/segmentation/include/pcl/segmentation/unary_classifier.h b/segmentation/include/pcl/segmentation/unary_classifier.h
index d34116a5e11..52ed89e90d5 100644
--- a/segmentation/include/pcl/segmentation/unary_classifier.h
+++ b/segmentation/include/pcl/segmentation/unary_classifier.h
@@ -45,7 +45,6 @@
 #include <pcl/point_types.h>
 
 #include <pcl/features/fpfh.h>
-#include <pcl/features/normal_3d.h>
 
 #include <pcl/ml/kmeans.h>
 
diff --git a/segmentation/src/min_cut_segmentation.cpp b/segmentation/src/min_cut_segmentation.cpp
index 22dc57e136a..de6448699f6 100644
--- a/segmentation/src/min_cut_segmentation.cpp
+++ b/segmentation/src/min_cut_segmentation.cpp
@@ -36,8 +36,6 @@
  *
  */
 
-#include <boost/version.hpp>
-
 #include <pcl/point_types.h>
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/segmentation/min_cut_segmentation.h>
diff --git a/surface/include/pcl/surface/impl/poisson.hpp b/surface/include/pcl/surface/impl/poisson.hpp
index 5261013bb3f..46652733359 100644
--- a/surface/include/pcl/surface/impl/poisson.hpp
+++ b/surface/include/pcl/surface/impl/poisson.hpp
@@ -55,7 +55,6 @@
 #define MEMORY_ALLOCATOR_BLOCK_SIZE 1<<12
 
 #include <cstdarg>
-#include <string>
 
 using namespace pcl;
 
diff --git a/tools/icp.cpp b/tools/icp.cpp
index c00e6258b7a..476b2f1df38 100644
--- a/tools/icp.cpp
+++ b/tools/icp.cpp
@@ -46,7 +46,6 @@
 
 #include <string>
 #include <iostream>
-#include <fstream>
 #include <vector>
 
 using PointType = pcl::PointXYZ;
diff --git a/tools/icp2d.cpp b/tools/icp2d.cpp
index 42a7333d547..701a1dc96aa 100644
--- a/tools/icp2d.cpp
+++ b/tools/icp2d.cpp
@@ -47,7 +47,6 @@
 
 #include <string>
 #include <iostream>
-#include <fstream>
 #include <vector>
 
 using PointType = pcl::PointXYZ;
diff --git a/tools/mesh_sampling.cpp b/tools/mesh_sampling.cpp
index 5e6272201dc..b8ba2b34c35 100644
--- a/tools/mesh_sampling.cpp
+++ b/tools/mesh_sampling.cpp
@@ -40,7 +40,6 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/vtk_lib_io.h>
 #include <vtkVersion.h>
-#include <vtkPLYReader.h>
 #include <vtkOBJReader.h>
 #include <vtkTriangle.h>
 #include <vtkTriangleFilter.h>
diff --git a/tools/ndt2d.cpp b/tools/ndt2d.cpp
index a378c86561e..04e0936db20 100644
--- a/tools/ndt2d.cpp
+++ b/tools/ndt2d.cpp
@@ -41,7 +41,6 @@
 
 #include <string>
 #include <iostream>
-#include <fstream>
 #include <vector>
 
 using PointType = pcl::PointXYZ;
diff --git a/tools/ndt3d.cpp b/tools/ndt3d.cpp
index 94a0e25b793..a5a24567dfb 100644
--- a/tools/ndt3d.cpp
+++ b/tools/ndt3d.cpp
@@ -41,7 +41,6 @@
 
 #include <string>
 #include <iostream>
-#include <fstream>
 #include <vector>
 
 
diff --git a/tools/obj_rec_ransac_model_opps.cpp b/tools/obj_rec_ransac_model_opps.cpp
index c2ac91bb206..619d742e6ed 100644
--- a/tools/obj_rec_ransac_model_opps.cpp
+++ b/tools/obj_rec_ransac_model_opps.cpp
@@ -54,7 +54,6 @@
 #include <vtkHedgeHog.h>
 #include <cstdio>
 #include <thread>
-#include <vector>
 
 using namespace std::chrono_literals;
 using namespace pcl;
diff --git a/tools/obj_rec_ransac_orr_octree_zprojection.cpp b/tools/obj_rec_ransac_orr_octree_zprojection.cpp
index 449fd70c299..446d53511d4 100644
--- a/tools/obj_rec_ransac_orr_octree_zprojection.cpp
+++ b/tools/obj_rec_ransac_orr_octree_zprojection.cpp
@@ -62,7 +62,6 @@
 #include <vtkCubeSource.h>
 #include <vtkPointData.h>
 #include <vector>
-#include <list>
 #include <cstdlib>
 #include <cstring>
 #include <cstdio>
diff --git a/tools/obj_rec_ransac_result.cpp b/tools/obj_rec_ransac_result.cpp
index 327f903b934..4e29e3f271c 100644
--- a/tools/obj_rec_ransac_result.cpp
+++ b/tools/obj_rec_ransac_result.cpp
@@ -58,7 +58,6 @@
 #include <vtkRenderWindow.h>
 #include <vtkTransform.h>
 #include <cstdio>
-#include <vector>
 #include <list>
 #include <thread>
 
diff --git a/tools/oni2pcd.cpp b/tools/oni2pcd.cpp
index 283ca3e6128..11a10b81a57 100644
--- a/tools/oni2pcd.cpp
+++ b/tools/oni2pcd.cpp
@@ -39,7 +39,6 @@
 #include <pcl/point_types.h>
 #include <pcl/io/oni_grabber.h>
 #include <pcl/io/pcd_io.h>
-#include <vector>
 
 using namespace pcl;
 using namespace pcl::console;
diff --git a/visualization/src/cloud_viewer.cpp b/visualization/src/cloud_viewer.cpp
index 498d6a9aa48..afe884ac235 100644
--- a/visualization/src/cloud_viewer.cpp
+++ b/visualization/src/cloud_viewer.cpp
@@ -39,9 +39,6 @@
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/memory.h>
 
-#include <vtkOrientationMarkerWidget.h>
-#include <vtkRenderWindowInteractor.h>
-
 #include <mutex>
 #include <thread>
 
diff --git a/visualization/src/histogram_visualizer.cpp b/visualization/src/histogram_visualizer.cpp
index 9d7b7ef7c26..2c7c2e642e2 100644
--- a/visualization/src/histogram_visualizer.cpp
+++ b/visualization/src/histogram_visualizer.cpp
@@ -46,7 +46,6 @@
 #include <vtkVersion.h>
 #include <vtkDoubleArray.h>
 #include <vtkTextProperty.h>
-#include <vtkRenderWindow.h>
 #include <vtkRenderer.h>
 #include <vtkDataObject.h>
 #include <vtkProperty2D.h>