diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92ffe0a4270..e8f03b2ecd3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -121,6 +121,9 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     endif()
     string(APPEND CMAKE_CXX_FLAGS " -Wall -Wextra -fno-strict-aliasing ${SSE_FLAGS} ${AVX_FLAGS}")
   endif()
+  if(PCL_SYMBOL_VISIBILITY_HIDDEN)
+    string(APPEND CMAKE_CXX_FLAGS " -fvisibility=hidden -fvisibility-inlines-hidden")
+  endif()
 
   if(PCL_WARNINGS_ARE_ERRORS)
     string(APPEND CMAKE_CXX_FLAGS " -Werror -fno-strict-aliasing")
@@ -229,6 +232,9 @@ if(CMAKE_COMPILER_IS_CLANG)
       string(APPEND CMAKE_CXX_FLAGS " -stdlib=libstdc++")
     endif()
   endif()
+  if(PCL_SYMBOL_VISIBILITY_HIDDEN)
+    string(APPEND CMAKE_CXX_FLAGS " -fvisibility=hidden -fvisibility-inlines-hidden")
+  endif()
   set(CLANG_LIBRARIES "stdc++")
 endif()
 
diff --git a/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp b/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp
index 6a88b8f46ea..740b927ac10 100644
--- a/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp
+++ b/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp
@@ -9,13 +9,13 @@
 #include <pcl/apps/3d_rec_framework/utils/metrics.h>
 
 // Instantiation
-template class pcl::rec_3d_framework::
+template class PCL_EXPORTS pcl::rec_3d_framework::GlobalClassifier<pcl::PointXYZ>;
+
+template class PCL_EXPORTS pcl::rec_3d_framework::
     GlobalNNPipeline<flann::L1, pcl::PointXYZ, pcl::VFHSignature308>;
-template class pcl::rec_3d_framework::GlobalNNPipeline<
-    Metrics::HistIntersectionUnionDistance,
-    pcl::PointXYZ,
-    pcl::VFHSignature308>;
-template class pcl::rec_3d_framework::
+template class PCL_EXPORTS
+    pcl::rec_3d_framework::GlobalNNPipeline<Metrics::HistIntersectionUnionDistance,
+                                            pcl::PointXYZ,
+                                            pcl::VFHSignature308>;
+template class PCL_EXPORTS pcl::rec_3d_framework::
     GlobalNNPipeline<flann::L1, pcl::PointXYZ, pcl::ESFSignature640>;
-
-template class pcl::rec_3d_framework::GlobalClassifier<pcl::PointXYZ>;
diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
index e4ca977857a..f1489aea83d 100644
--- a/cmake/pcl_options.cmake
+++ b/cmake/pcl_options.cmake
@@ -111,3 +111,7 @@ option(PCL_DISABLE_GPU_TESTS "Disable running GPU tests. If disabled, tests will
 # Set whether visualizations tests should be run
 # (Used to prevent visualizations tests from executing in CI where visualization is unavailable)
 option(PCL_DISABLE_VISUALIZATION_TESTS "Disable running visualizations tests. If disabled, tests will still be built." OFF)
+
+# This leads to smaller libraries, possibly faster code, and fixes some bugs. See https://gcc.gnu.org/wiki/Visibility
+option(PCL_SYMBOL_VISIBILITY_HIDDEN "Hide all binary symbols by default, export only those explicitly marked (gcc and clang only). Experimental!" ON)
+mark_as_advanced(PCL_SYMBOL_VISIBILITY_HIDDEN)
diff --git a/common/include/pcl/common/intersections.h b/common/include/pcl/common/intersections.h
index 28a3f80e828..3f4cd5ec2fc 100644
--- a/common/include/pcl/common/intersections.h
+++ b/common/include/pcl/common/intersections.h
@@ -86,7 +86,7 @@ namespace pcl
     * \param[in] angular_tolerance tolerance in radians
     * \return true if succeeded/planes aren't parallel
     */
-  PCL_EXPORTS template <typename Scalar> bool
+  template <typename Scalar> PCL_EXPORTS bool
   planeWithPlaneIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
                               const Eigen::Matrix<Scalar, 4, 1> &plane_b,
                               Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line,
@@ -121,7 +121,7 @@ namespace pcl
     * \param[out] intersection_point the three coordinates x, y, z of the intersection point
     * \return true if succeeded/planes aren't parallel
     */
-  PCL_EXPORTS template <typename Scalar> bool
+  template <typename Scalar> PCL_EXPORTS bool
   threePlanesIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
                            const Eigen::Matrix<Scalar, 4, 1> &plane_b,
                            const Eigen::Matrix<Scalar, 4, 1> &plane_c,
diff --git a/common/include/pcl/exceptions.h b/common/include/pcl/exceptions.h
index 3814839c89c..975af1d2d88 100644
--- a/common/include/pcl/exceptions.h
+++ b/common/include/pcl/exceptions.h
@@ -40,6 +40,7 @@
 #include <stdexcept>
 #include <sstream>
 #include <boost/current_function.hpp>
+#include <pcl/pcl_exports.h> // for PCL_EXPORTS
 
 /** PCL_THROW_EXCEPTION a helper macro to be used for throwing exceptions.
   * This is an example on how to use:
@@ -60,7 +61,7 @@ namespace pcl
     * \brief A base class for all pcl exceptions which inherits from std::runtime_error
     * \author Eitan Marder-Eppstein, Suat Gedikli, Nizar Sallem
     */
-  class PCLException : public std::runtime_error
+  class PCL_EXPORTS PCLException : public std::runtime_error
   {
     public:
 
@@ -132,7 +133,7 @@ namespace pcl
   /** \class InvalidConversionException
     * \brief An exception that is thrown when a PCLPointCloud2 message cannot be converted into a PCL type
     */
-  class InvalidConversionException : public PCLException
+  class PCL_EXPORTS InvalidConversionException : public PCLException
   {
     public:
 
@@ -146,7 +147,7 @@ namespace pcl
   /** \class IsNotDenseException
     * \brief An exception that is thrown when a PointCloud is not dense but is attempted to be used as dense
     */
-  class IsNotDenseException : public PCLException
+  class PCL_EXPORTS IsNotDenseException : public PCLException
   {
     public:
 
@@ -161,7 +162,7 @@ namespace pcl
     * \brief An exception that is thrown when a sample consensus model doesn't
     * have the correct number of samples defined in model_types.h
     */
-  class InvalidSACModelTypeException : public PCLException
+  class PCL_EXPORTS InvalidSACModelTypeException : public PCLException
   {
     public:
 
@@ -175,7 +176,7 @@ namespace pcl
   /** \class IOException
     * \brief An exception that is thrown during an IO error (typical read/write errors)
     */
-  class IOException : public PCLException
+  class PCL_EXPORTS IOException : public PCLException
   {
     public:
 
@@ -190,7 +191,7 @@ namespace pcl
     * \brief An exception thrown when init can not be performed should be used in all the
     * PCLBase class inheritants.
     */
-  class InitFailedException : public PCLException
+  class PCL_EXPORTS InitFailedException : public PCLException
   {
     public:
       InitFailedException (const std::string& error_description = "",
@@ -204,7 +205,7 @@ namespace pcl
     * \brief An exception that is thrown when an organized point cloud is needed
     * but not provided.
     */
-  class UnorganizedPointCloudException : public PCLException
+  class PCL_EXPORTS UnorganizedPointCloudException : public PCLException
   {
     public:
     
@@ -218,7 +219,7 @@ namespace pcl
   /** \class KernelWidthTooSmallException
     * \brief An exception that is thrown when the kernel size is too small
     */
-  class KernelWidthTooSmallException : public PCLException
+  class PCL_EXPORTS KernelWidthTooSmallException : public PCLException
   {
     public:
     
@@ -229,7 +230,7 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   } ;
 
-  class UnhandledPointTypeException : public PCLException
+  class PCL_EXPORTS UnhandledPointTypeException : public PCLException
   {
     public:
     UnhandledPointTypeException (const std::string& error_description,
@@ -239,7 +240,7 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   };
 
-  class ComputeFailedException : public PCLException
+  class PCL_EXPORTS ComputeFailedException : public PCLException
   {
     public:
     ComputeFailedException (const std::string& error_description,
@@ -252,7 +253,7 @@ namespace pcl
   /** \class BadArgumentException
     * \brief An exception that is thrown when the arguments number or type is wrong/unhandled.
     */
-  class BadArgumentException : public PCLException
+  class PCL_EXPORTS BadArgumentException : public PCLException
   {
     public:
     BadArgumentException (const std::string& error_description,
diff --git a/common/include/pcl/pcl_exports.h b/common/include/pcl/pcl_exports.h
index ef71bddadd8..8676382c1c5 100644
--- a/common/include/pcl/pcl_exports.h
+++ b/common/include/pcl/pcl_exports.h
@@ -45,5 +45,5 @@
         #define PCL_EXPORTS
     #endif
 #else
-    #define PCL_EXPORTS
+    #define PCL_EXPORTS __attribute__ ((visibility ("default")))
 #endif
diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h
index da487b5e1bc..a8e19d05116 100644
--- a/common/include/pcl/pcl_macros.h
+++ b/common/include/pcl/pcl_macros.h
@@ -323,7 +323,7 @@ pcl_round (float number)
         #define PCL_EXPORTS
     #endif
 #else
-    #define PCL_EXPORTS
+    #define PCL_EXPORTS __attribute__ ((visibility ("default")))
 #endif
 
 #if defined WIN32 || defined _WIN32
diff --git a/features/include/pcl/features/moment_of_inertia_estimation.h b/features/include/pcl/features/moment_of_inertia_estimation.h
index 9d96d407157..9fa7669d6db 100644
--- a/features/include/pcl/features/moment_of_inertia_estimation.h
+++ b/features/include/pcl/features/moment_of_inertia_estimation.h
@@ -352,7 +352,7 @@ namespace pcl
   };
 }
 
-#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class pcl::MomentOfInertiaEstimation<T>;
+#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class PCL_EXPORTS pcl::MomentOfInertiaEstimation<T>;
 
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/moment_of_inertia_estimation.hpp>
diff --git a/features/include/pcl/features/rops_estimation.h b/features/include/pcl/features/rops_estimation.h
index a34e09fc941..b46c504c59e 100644
--- a/features/include/pcl/features/rops_estimation.h
+++ b/features/include/pcl/features/rops_estimation.h
@@ -227,7 +227,7 @@ namespace pcl
   };
 }
 
-#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation<InT, OutT>;
+#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class PCL_EXPORTS pcl::ROPSEstimation<InT, OutT>;
 
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/rops_estimation.hpp>
diff --git a/filters/src/convolution.cpp b/filters/src/convolution.cpp
index 7d35a463a0c..41ffd02be9c 100644
--- a/filters/src/convolution.cpp
+++ b/filters/src/convolution.cpp
@@ -189,17 +189,5 @@ Convolution<pcl::RGB, pcl::RGB>::convolveOneColDense(int i, int j)
   result.b = static_cast<std::uint8_t>(b);
   return (result);
 }
-
-#ifndef PCL_NO_PRECOMPILE
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-
-PCL_INSTANTIATE_PRODUCT(
-    Convolution, ((pcl::RGB))((pcl::RGB)))
-
-PCL_INSTANTIATE_PRODUCT(
-    Convolution, ((pcl::PointXYZRGB))((pcl::PointXYZRGB)))
-#endif // PCL_NO_PRECOMPILE
-
 } // namespace filters
 } // namespace pcl
diff --git a/filters/src/voxel_grid_label.cpp b/filters/src/voxel_grid_label.cpp
index 13dd7cdfdb4..12831d2b0b6 100644
--- a/filters/src/voxel_grid_label.cpp
+++ b/filters/src/voxel_grid_label.cpp
@@ -37,8 +37,19 @@
  */
 
 #include <map>
+#include <pcl/common/common.h> // for getMinMax3D
 #include <pcl/filters/voxel_grid_label.h>
-#include <pcl/filters/impl/voxel_grid.hpp>
+#include <boost/mpl/size.hpp> // for boost::mpl::size
+
+struct point_index_idx
+{
+  unsigned int idx;
+  unsigned int cloud_point_index;
+
+  point_index_idx() = default;
+  point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {}
+  bool operator < (const point_index_idx &p) const { return (idx < p.idx); }
+};
 
 //////////////////////////////////////////////////////////////////////////////
 void
@@ -111,7 +122,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
   int label_index = -1;
   label_index = pcl::getFieldIndex<PointXYZRGBL> ("label", fields);
 
-  std::vector<cloud_point_index_idx> index_vector;
+  std::vector<point_index_idx> index_vector;
   index_vector.reserve(input_->size());
 
   // If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first...
diff --git a/recognition/src/implicit_shape_model.cpp b/recognition/src/implicit_shape_model.cpp
index ed851c35009..9efa48f4cb8 100644
--- a/recognition/src/implicit_shape_model.cpp
+++ b/recognition/src/implicit_shape_model.cpp
@@ -43,6 +43,6 @@
 #include <pcl/recognition/impl/implicit_shape_model.hpp>
 
 // Instantiations of specific point types
-template class pcl::features::ISMVoteList<pcl::PointXYZ>;
+template class PCL_EXPORTS pcl::features::ISMVoteList<pcl::PointXYZ>;
 
-template class pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>;
+template class PCL_EXPORTS pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>;
diff --git a/registration/include/pcl/registration/transformation_estimation_svd.h b/registration/include/pcl/registration/transformation_estimation_svd.h
index d91f7e367a0..77b0646679f 100644
--- a/registration/include/pcl/registration/transformation_estimation_svd.h
+++ b/registration/include/pcl/registration/transformation_estimation_svd.h
@@ -54,7 +54,7 @@ namespace registration {
  * \ingroup registration
  */
 template <typename PointSource, typename PointTarget, typename Scalar = float>
-class TransformationEstimationSVD
+class PCL_EXPORTS TransformationEstimationSVD
 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
 public:
   using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
index 6137c26126c..e1e1e60bddf 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
@@ -45,7 +45,7 @@
 namespace pcl
 {
   namespace internal {
-    int optimizeModelCoefficientsCone (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
+    PCL_EXPORTS int optimizeModelCoefficientsCone (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
   } // namespace internal
 
   /** \brief @b SampleConsensusModelCone defines a model for 3D cone segmentation.
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
index 95a6e80873b..a3113a6f35f 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
@@ -47,7 +47,7 @@
 namespace pcl
 {
   namespace internal {
-    int optimizeModelCoefficientsCylinder (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
+    PCL_EXPORTS int optimizeModelCoefficientsCylinder (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
   } // namespace internal
 
   /** \brief @b SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h
index 2bee660a23f..a82e8e5771e 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h
@@ -139,7 +139,7 @@ namespace pcl
     * \ingroup sample_consensus
     */
   template <typename PointT>
-  class SampleConsensusModelPlane : public SampleConsensusModel<PointT>
+  class PCL_EXPORTS SampleConsensusModelPlane : public SampleConsensusModel<PointT>
   {
     public:
       using SampleConsensusModel<PointT>::model_name_;
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
index 537fcb3d0dd..7645c636545 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
@@ -53,7 +53,7 @@
 namespace pcl
 {
   namespace internal {
-    int optimizeModelCoefficientsSphere (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
+    PCL_EXPORTS int optimizeModelCoefficientsSphere (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
   } // namespace internal
 
   /** \brief SampleConsensusModelSphere defines a model for 3D sphere segmentation.
diff --git a/sample_consensus/src/sac_model_normal_plane.cpp b/sample_consensus/src/sac_model_normal_plane.cpp
index d7b2aec34e4..0a2c08dadbd 100644
--- a/sample_consensus/src/sac_model_normal_plane.cpp
+++ b/sample_consensus/src/sac_model_normal_plane.cpp
@@ -41,10 +41,17 @@
 #ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
+
+// used to tell compiler that instantiations of SampleConsensusModelPlane are available from sac_model_plane.cpp
+#define PCL_EXTERN_TEMPLATE_IMPL(r, unused, POINT_TYPE) \
+  extern template class pcl::SampleConsensusModelPlane<POINT_TYPE>;
+
 // Instantiations of specific point types
 #ifdef PCL_ONLY_CORE_POINT_TYPES
+  BOOST_PP_SEQ_FOR_EACH(PCL_EXTERN_TEMPLATE_IMPL, unused, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBNormal))
   PCL_INSTANTIATE_PRODUCT(SampleConsensusModelNormalPlane, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))((pcl::Normal)))
 #else
+ BOOST_PP_SEQ_FOR_EACH(PCL_EXTERN_TEMPLATE_IMPL, unused, PCL_XYZ_POINT_TYPES)
  PCL_INSTANTIATE_PRODUCT(SampleConsensusModelNormalPlane, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES))
 #endif
 #endif    // PCL_NO_PRECOMPILE
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 4a98b2e33bf..9481fc42a14 100644
--- a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
+++ b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
@@ -276,7 +276,7 @@ pcl::ApproximateProgressiveMorphologicalFilter<PointT>::extract (Indices& ground
 }
 
 
-#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class pcl::ApproximateProgressiveMorphologicalFilter<T>;
+#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class PCL_EXPORTS pcl::ApproximateProgressiveMorphologicalFilter<T>;
 
 #endif    // PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
 
diff --git a/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp
index cf00fa56a84..01b9dba9a91 100644
--- a/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp
+++ b/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp
@@ -71,6 +71,6 @@ pcl::CrfNormalSegmentation<PointT>::segmentPoints ()
 {
 }
 
-#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class pcl::CrfNormalSegmentation<T>;
+#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class PCL_EXPORTS pcl::CrfNormalSegmentation<T>;
 
 #endif    // PCL_CRF_NORMAL_SEGMENTATION_HPP_
diff --git a/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp
index 2c2f9f5bac0..ff061567519 100644
--- a/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp
+++ b/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp
@@ -595,6 +595,6 @@ pcl::CrfSegmentation<PointT>::segmentPoints (pcl::PointCloud<pcl::PointXYZRGBL>
 
 }
 
-#define PCL_INSTANTIATE_CrfSegmentation(T) template class pcl::CrfSegmentation<T>;
+#define PCL_INSTANTIATE_CrfSegmentation(T) template class PCL_EXPORTS pcl::CrfSegmentation<T>;
 
 #endif    // PCL_CRF_SEGMENTATION_HPP_
diff --git a/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp
index 0288a260497..e97e457e8ad 100644
--- a/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp
+++ b/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp
@@ -598,6 +598,6 @@ pcl::MinCutSegmentation<PointT>::getColoredCloud ()
   return (colored_cloud);
 }
 
-#define PCL_INSTANTIATE_MinCutSegmentation(T) template class pcl::MinCutSegmentation<T>;
+#define PCL_INSTANTIATE_MinCutSegmentation(T) template class PCL_EXPORTS pcl::MinCutSegmentation<T>;
 
 #endif    // PCL_SEGMENTATION_MIN_CUT_SEGMENTATION_HPP_
diff --git a/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp b/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp
index 1c1ee2e0148..d676dffe6c9 100644
--- a/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp
+++ b/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp
@@ -143,7 +143,7 @@ pcl::ProgressiveMorphologicalFilter<PointT>::extract (Indices& ground)
   deinitCompute ();
 }
 
-#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class pcl::ProgressiveMorphologicalFilter<T>;
+#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class PCL_EXPORTS pcl::ProgressiveMorphologicalFilter<T>;
 
 #endif    // PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
 
diff --git a/segmentation/include/pcl/segmentation/impl/region_growing.hpp b/segmentation/include/pcl/segmentation/impl/region_growing.hpp
index be75d0cf7ba..a91a02dee07 100644
--- a/segmentation/include/pcl/segmentation/impl/region_growing.hpp
+++ b/segmentation/include/pcl/segmentation/impl/region_growing.hpp
@@ -724,5 +724,5 @@ pcl::RegionGrowing<PointT, NormalT>::getColoredCloudRGBA ()
   return (colored_cloud);
 }
 
-#define PCL_INSTANTIATE_RegionGrowing(T) template class pcl::RegionGrowing<T, pcl::Normal>;
+#define PCL_INSTANTIATE_RegionGrowing(T) template class PCL_EXPORTS pcl::RegionGrowing<T, pcl::Normal>;
 
diff --git a/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp b/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp
index 54aed117bbe..44dcee2b388 100644
--- a/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp
+++ b/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp
@@ -689,57 +689,11 @@ pcl::SupervoxelClustering<PointT>::getMaxLabel () const
   return max_label;
 }
 
-namespace pcl
-{ 
-  namespace octree
-  {
-    //Explicit overloads for RGB types
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB,pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData>::addPoint (const pcl::PointXYZRGB &new_point);
-    
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA,pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>::addPoint (const pcl::PointXYZRGBA &new_point);
-    
-    //Explicit overloads for RGB types
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB,pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData>::computeData ();
-    
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA,pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>::computeData ();
-    
-    //Explicit overloads for XYZ types
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::addPoint (const pcl::PointXYZ &new_point);
-    
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::computeData ();
-  }
-}
-
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 namespace pcl
-{
-  
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData::getPoint (pcl::PointXYZRGB &point_arg) const;
-  
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData::getPoint (pcl::PointXYZRGBA &point_arg ) const;
-  
-  template<typename PointT> void
-  pcl::SupervoxelClustering<PointT>::VoxelData::getPoint (PointT &point_arg ) const
-  {
-    //XYZ is required or this doesn't make much sense...
-    point_arg.x = xyz_[0];
-    point_arg.y = xyz_[1];
-    point_arg.z = xyz_[2];
-  }
-  
+{ 
   //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   template <typename PointT> void
   pcl::SupervoxelClustering<PointT>::VoxelData::getNormal (Normal &normal_arg) const
diff --git a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
index 38f2cd59cda..4d59eddfc82 100644
--- a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
+++ b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
@@ -427,6 +427,6 @@ pcl::UnaryClassifier<PointT>::segment (pcl::PointCloud<pcl::PointXYZRGBL>::Ptr &
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-#define PCL_INSTANTIATE_UnaryClassifier(T) template class pcl::UnaryClassifier<T>;
+#define PCL_INSTANTIATE_UnaryClassifier(T) template class PCL_EXPORTS pcl::UnaryClassifier<T>;
 
 #endif    // PCL_UNARY_CLASSIFIER_HPP_
diff --git a/segmentation/include/pcl/segmentation/supervoxel_clustering.h b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
index e46239c50af..31dcb4be480 100644
--- a/segmentation/include/pcl/segmentation/supervoxel_clustering.h
+++ b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
@@ -145,11 +145,33 @@ namespace pcl
             owner_ (nullptr)
             {}
 
+#ifdef DOXYGEN_ONLY
           /** \brief Gets the data of in the form of a point
            *  \param[out] point_arg Will contain the point value of the voxeldata
            */
           void
           getPoint (PointT &point_arg) const;
+#else
+          template<typename PointT2 = PointT, traits::HasColor<PointT2> = true> void
+          getPoint (PointT &point_arg) const
+          {
+            point_arg.rgba = static_cast<std::uint32_t>(rgb_[0]) << 16 |
+            static_cast<std::uint32_t>(rgb_[1]) << 8 |
+            static_cast<std::uint32_t>(rgb_[2]);
+            point_arg.x = xyz_[0];
+            point_arg.y = xyz_[1];
+            point_arg.z = xyz_[2];
+          }
+
+          template<typename PointT2 = PointT, traits::HasNoColor<PointT2> = true> void
+          getPoint (PointT &point_arg ) const
+          {
+            //XYZ is required or this doesn't make much sense...
+            point_arg.x = xyz_[0];
+            point_arg.y = xyz_[1];
+            point_arg.z = xyz_[2];
+          }
+#endif
 
           /** \brief Gets the data of in the form of a normal
            *  \param[out] normal_arg Will contain the normal value of the voxeldata
diff --git a/segmentation/src/crf_segmentation.cpp b/segmentation/src/crf_segmentation.cpp
index cb06b73b75f..fffdcccb5f6 100644
--- a/segmentation/src/crf_segmentation.cpp
+++ b/segmentation/src/crf_segmentation.cpp
@@ -43,6 +43,6 @@
 #include <pcl/segmentation/impl/crf_segmentation.hpp>
 
 // Instantiations of specific point types
-template class pcl::CrfSegmentation<pcl::PointXYZRGB>;
-template class pcl::CrfSegmentation<pcl::PointXYZRGBA>;
-template class pcl::CrfSegmentation<pcl::PointXYZRGBNormal>;
+template class PCL_EXPORTS pcl::CrfSegmentation<pcl::PointXYZRGB>;
+template class PCL_EXPORTS pcl::CrfSegmentation<pcl::PointXYZRGBA>;
+template class PCL_EXPORTS pcl::CrfSegmentation<pcl::PointXYZRGBNormal>;
diff --git a/segmentation/src/region_growing_rgb.cpp b/segmentation/src/region_growing_rgb.cpp
index 76b724e1cae..f377ca0e983 100644
--- a/segmentation/src/region_growing_rgb.cpp
+++ b/segmentation/src/region_growing_rgb.cpp
@@ -43,7 +43,7 @@
 #include <pcl/segmentation/impl/region_growing_rgb.hpp>
 
 // Instantiations of specific point types
-template class pcl::RegionGrowingRGB<pcl::PointXYZRGBA>;
-template class pcl::RegionGrowingRGB<pcl::PointXYZRGB>;
-template class pcl::RegionGrowingRGB<pcl::PointXYZRGBL>;
-template class pcl::RegionGrowingRGB<pcl::PointXYZRGBNormal>;
+template class PCL_EXPORTS pcl::RegionGrowingRGB<pcl::PointXYZRGBA>;
+template class PCL_EXPORTS pcl::RegionGrowingRGB<pcl::PointXYZRGB>;
+template class PCL_EXPORTS pcl::RegionGrowingRGB<pcl::PointXYZRGBL>;
+template class PCL_EXPORTS pcl::RegionGrowingRGB<pcl::PointXYZRGBNormal>;
diff --git a/segmentation/src/supervoxel_clustering.cpp b/segmentation/src/supervoxel_clustering.cpp
index 663b0eda7c1..821901ec540 100644
--- a/segmentation/src/supervoxel_clustering.cpp
+++ b/segmentation/src/supervoxel_clustering.cpp
@@ -49,6 +49,10 @@
 #include <pcl/segmentation/impl/supervoxel_clustering.hpp>
 #include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
 
+template class PCL_EXPORTS pcl::SupervoxelClustering<pcl::PointXYZ>;
+template class PCL_EXPORTS pcl::SupervoxelClustering<pcl::PointXYZRGB>;
+template class PCL_EXPORTS pcl::SupervoxelClustering<pcl::PointXYZRGBA>;
+
 namespace pcl
 { 
   namespace octree
@@ -135,31 +139,6 @@ namespace pcl
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-namespace pcl
-{
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData::getPoint (pcl::PointXYZRGB &point_arg) const
-  {
-    point_arg.rgba = static_cast<std::uint32_t>(rgb_[0]) << 16 | 
-    static_cast<std::uint32_t>(rgb_[1]) << 8 | 
-    static_cast<std::uint32_t>(rgb_[2]);  
-    point_arg.x = xyz_[0];
-    point_arg.y = xyz_[1];
-    point_arg.z = xyz_[2];
-  }
-  
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData::getPoint (pcl::PointXYZRGBA &point_arg ) const
-  {
-    point_arg.rgba = static_cast<std::uint32_t>(rgb_[0]) << 16 | 
-    static_cast<std::uint32_t>(rgb_[1]) << 8 | 
-    static_cast<std::uint32_t>(rgb_[2]);  
-    point_arg.x = xyz_[0];
-    point_arg.y = xyz_[1];
-    point_arg.z = xyz_[2];
-  }
-}
-
 using VoxelDataT = pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData;
 using VoxelDataRGBT = pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData;
 using VoxelDataRGBAT = pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData;
@@ -168,10 +147,6 @@ using AdjacencyContainerT = pcl::octree::OctreePointCloudAdjacencyContainer<pcl:
 using AdjacencyContainerRGBT = pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB, VoxelDataRGBT>;
 using AdjacencyContainerRGBAT = pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, VoxelDataRGBAT>;
 
-template class pcl::SupervoxelClustering<pcl::PointXYZ>;
-template class pcl::SupervoxelClustering<pcl::PointXYZRGB>;
-template class pcl::SupervoxelClustering<pcl::PointXYZRGBA>;
-
 template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ, VoxelDataT>;
 template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB, VoxelDataRGBT>;
 template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, VoxelDataRGBAT>;
diff --git a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
index 8e54f38e8f8..3190f9c1098 100644
--- a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
+++ b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
@@ -11,7 +11,8 @@ namespace tracking {
  * \ingroup tracking
  */
 template <typename PointInT>
-class NearestPairPointCloudCoherence : public PointCloudCoherence<PointInT> {
+class PCL_EXPORTS NearestPairPointCloudCoherence
+: public PointCloudCoherence<PointInT> {
 public:
   using PointCloudCoherence<PointInT>::getClassName;
   using PointCloudCoherence<PointInT>::coherence_name_;
diff --git a/tracking/src/coherence.cpp b/tracking/src/coherence.cpp
index 325e03aee83..5af35475c67 100644
--- a/tracking/src/coherence.cpp
+++ b/tracking/src/coherence.cpp
@@ -45,13 +45,13 @@
 #include <pcl/point_types.h>
 
 // clang-format off
-PCL_INSTANTIATE(ApproxNearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES)
 PCL_INSTANTIATE(DistanceCoherence, PCL_XYZ_POINT_TYPES)
 PCL_INSTANTIATE(HSVColorCoherence,
                 (pcl::PointXYZRGB)
                 (pcl::PointXYZRGBNormal)
                 (pcl::PointXYZRGBA))
 PCL_INSTANTIATE(NearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES)
+PCL_INSTANTIATE(ApproxNearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES) // TODO necessary to use this order?
 PCL_INSTANTIATE(NormalCoherence, PCL_NORMAL_POINT_TYPES)
 // clang-format on
 #endif // PCL_NO_PRECOMPILE
diff --git a/visualization/include/pcl/visualization/common/ren_win_interact_map.h b/visualization/include/pcl/visualization/common/ren_win_interact_map.h
index 1841f13a28f..31810c5fd83 100644
--- a/visualization/include/pcl/visualization/common/ren_win_interact_map.h
+++ b/visualization/include/pcl/visualization/common/ren_win_interact_map.h
@@ -38,6 +38,8 @@
 
 #pragma once
 
+#include <pcl/pcl_exports.h>
+
 #include <map>
 #include <string>
 
@@ -53,7 +55,7 @@ namespace pcl
 {
   namespace visualization
   {
-    class RenWinInteract
+    class PCL_EXPORTS RenWinInteract
     {
       public: