diff --git a/features/include/pcl/features/impl/gfpfh.hpp b/features/include/pcl/features/impl/gfpfh.hpp
index 6d05f669fc9..4566a475246 100644
--- a/features/include/pcl/features/impl/gfpfh.hpp
+++ b/features/include/pcl/features/impl/gfpfh.hpp
@@ -42,7 +42,6 @@
 #define PCL_FEATURES_IMPL_GFPFH_H_
 
 #include <pcl/features/gfpfh.h>
-#include <pcl/octree/octree.h>
 #include <pcl/octree/octree_search.h>
 #include <pcl/common/eigen.h>
 
diff --git a/filters/include/pcl/filters/impl/morphological_filter.hpp b/filters/include/pcl/filters/impl/morphological_filter.hpp
index 59a0a965f8e..8c12fc48871 100644
--- a/filters/include/pcl/filters/impl/morphological_filter.hpp
+++ b/filters/include/pcl/filters/impl/morphological_filter.hpp
@@ -50,7 +50,7 @@
 #include <pcl/common/common.h>
 #include <pcl/common/io.h>
 #include <pcl/filters/morphological_filter.h>
-#include <pcl/octree/octree.h>
+#include <pcl/octree/octree_search.h>
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void
diff --git a/octree/include/pcl/octree/impl/octree_base.hpp b/octree/include/pcl/octree/impl/octree_base.hpp
index c49de275234..777128536e7 100644
--- a/octree/include/pcl/octree/impl/octree_base.hpp
+++ b/octree/include/pcl/octree/impl/octree_base.hpp
@@ -42,8 +42,6 @@
 #include <vector>
 
 #include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-#include <pcl/octree/octree.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/impl/octree_iterator.hpp b/octree/include/pcl/octree/impl/octree_iterator.hpp
index 5d95a028d3a..6811ad4a6d1 100644
--- a/octree/include/pcl/octree/impl/octree_iterator.hpp
+++ b/octree/include/pcl/octree/impl/octree_iterator.hpp
@@ -39,11 +39,6 @@
 #ifndef PCL_OCTREE_ITERATOR_HPP_
 #define PCL_OCTREE_ITERATOR_HPP_
 
-#include <vector>
-#include <assert.h>
-
-#include <pcl/common/common.h>
-
 namespace pcl
 {
   namespace octree
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
index 3191a20e6c7..74fb02a7688 100644
--- a/octree/include/pcl/octree/impl/octree_pointcloud.hpp
+++ b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
@@ -39,11 +39,10 @@
 #ifndef PCL_OCTREE_POINTCLOUD_HPP_
 #define PCL_OCTREE_POINTCLOUD_HPP_
 
-#include <vector>
 #include <assert.h>
 
 #include <pcl/common/common.h>
-
+#include <pcl/octree/impl/octree_base.hpp>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp b/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
index 96288904175..a3c5365ab7e 100644
--- a/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
+++ b/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
@@ -38,7 +38,16 @@
 #ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_
 #define PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_
 
-#include <pcl/octree/octree_pointcloud_adjacency.h>
+#include <pcl/console/print.h>
+#include <pcl/common/geometry.h>
+/*
+ * OctreePointCloudAdjacency is not precompiled, since it's used in other
+ * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
+ * used, octree_pointcloud_adjacency.h includes this file but octree_pointcloud.h
+ * would not include the implementation because it's precompiled. So we need to
+ * include it here "manually".
+ */
+#include <pcl/octree/impl/octree_pointcloud.hpp>
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT, typename LeafContainerT, typename BranchContainerT> 
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp b/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp
index d6a5cf8a268..42c7cc2ef54 100644
--- a/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp
+++ b/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp
@@ -40,7 +40,14 @@
 #ifndef PCL_OCTREE_VOXELCENTROID_HPP
 #define PCL_OCTREE_VOXELCENTROID_HPP
 
-#include <pcl/octree/octree_pointcloud_voxelcentroid.h>
+/*
+ * OctreePointCloudAdjacency is not precompiled, since it's used in other
+ * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
+ * used, octree_pointcloud_adjacency.h includes this file but octree_pointcloud.h
+ * would not include the implementation because it's precompiled. So we need to
+ * include it here "manually".
+ */
+#include <pcl/octree/impl/octree_pointcloud.hpp>
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool
diff --git a/octree/include/pcl/octree/impl/octree_search.hpp b/octree/include/pcl/octree/impl/octree_search.hpp
index 0535f855a15..4b09c8c8825 100644
--- a/octree/include/pcl/octree/impl/octree_search.hpp
+++ b/octree/include/pcl/octree/impl/octree_search.hpp
@@ -39,10 +39,6 @@
 #ifndef PCL_OCTREE_SEARCH_IMPL_H_
 #define PCL_OCTREE_SEARCH_IMPL_H_
 
-#include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <pcl/common/common.h>
 #include <assert.h>
 
 
diff --git a/octree/include/pcl/octree/octree2buf_base.h b/octree/include/pcl/octree/octree2buf_base.h
index c1691ead37f..d9a2dcd8a9d 100644
--- a/octree/include/pcl/octree/octree2buf_base.h
+++ b/octree/include/pcl/octree/octree2buf_base.h
@@ -41,13 +41,11 @@
 
 #include <vector>
 
-#include "octree_nodes.h"
-#include "octree_container.h"
-#include "octree_key.h"
-#include "octree_iterator.h"
+#include <pcl/octree/octree_nodes.h>
+#include <pcl/octree/octree_container.h>
+#include <pcl/octree/octree_key.h>
+#include <pcl/octree/octree_iterator.h>
 
-#include <stdio.h>
-#include <string.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_base.h b/octree/include/pcl/octree/octree_base.h
index d04be1ac2b3..e004b67a6d0 100644
--- a/octree/include/pcl/octree/octree_base.h
+++ b/octree/include/pcl/octree/octree_base.h
@@ -39,13 +39,12 @@
 #ifndef PCL_OCTREE_TREE_BASE_H
 #define PCL_OCTREE_TREE_BASE_H
 
-#include <cstddef>
 #include <vector>
 
-#include "octree_nodes.h"
-#include "octree_container.h"
-#include "octree_key.h"
-#include "octree_iterator.h"
+#include <pcl/octree/octree_nodes.h>
+#include <pcl/octree/octree_container.h>
+#include <pcl/octree/octree_key.h>
+#include <pcl/octree/octree_iterator.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_container.h b/octree/include/pcl/octree/octree_container.h
index 3b06f72b496..c4b7137878e 100644
--- a/octree/include/pcl/octree/octree_container.h
+++ b/octree/include/pcl/octree/octree_container.h
@@ -39,7 +39,7 @@
 #ifndef PCL_OCTREE_CONTAINER_H
 #define PCL_OCTREE_CONTAINER_H
 
-#include <string.h>
+//#include <string.h>
 #include <vector>
 #include <cstddef>
 
diff --git a/octree/include/pcl/octree/octree_iterator.h b/octree/include/pcl/octree/octree_iterator.h
index ef10a737d2c..edcbed5c97a 100644
--- a/octree/include/pcl/octree/octree_iterator.h
+++ b/octree/include/pcl/octree/octree_iterator.h
@@ -43,11 +43,8 @@
 #include <vector>
 #include <deque>
 
-#include "octree_nodes.h"
-#include "octree_key.h"
-
-#include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
+#include <pcl/octree/octree_nodes.h>
+#include <pcl/octree/octree_key.h>
 
 #include <iterator>
 
diff --git a/octree/include/pcl/octree/octree_key.h b/octree/include/pcl/octree/octree_key.h
index 704323c3581..4442cef4322 100644
--- a/octree/include/pcl/octree/octree_key.h
+++ b/octree/include/pcl/octree/octree_key.h
@@ -38,8 +38,6 @@
 #ifndef PCL_OCTREE_KEY_H
 #define PCL_OCTREE_KEY_H
 
-#include <string>
-
 namespace pcl
 {
   namespace octree
diff --git a/octree/include/pcl/octree/octree_nodes.h b/octree/include/pcl/octree/octree_nodes.h
index d9b26897ef4..07ce67d66e5 100644
--- a/octree/include/pcl/octree/octree_nodes.h
+++ b/octree/include/pcl/octree/octree_nodes.h
@@ -42,9 +42,6 @@
 #include <cstddef>
 
 #include <assert.h>
-#include <cstring>
-
-#include <string.h>
 
 #include <Eigen/Core>
 
diff --git a/octree/include/pcl/octree/octree_pointcloud.h b/octree/include/pcl/octree/octree_pointcloud.h
index 9f39799ab2b..73cf607c56e 100644
--- a/octree/include/pcl/octree/octree_pointcloud.h
+++ b/octree/include/pcl/octree/octree_pointcloud.h
@@ -39,16 +39,12 @@
 #ifndef PCL_OCTREE_POINTCLOUD_H
 #define PCL_OCTREE_POINTCLOUD_H
 
-#include "octree_base.h"
-//#include "octree2buf_base.h"
+#include <pcl/octree/octree_base.h>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
-#include <queue>
 #include <vector>
-#include <algorithm>
-#include <iostream>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_adjacency.h b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
index dff2bd62579..1e215f7cf27 100644
--- a/octree/include/pcl/octree/octree_pointcloud_adjacency.h
+++ b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
@@ -40,10 +40,8 @@
 #ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
 #define PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
 
-#include <pcl/console/print.h>
-#include <pcl/common/geometry.h>
 #include <pcl/octree/boost.h>
-#include <pcl/octree/octree_impl.h>
+#include <pcl/octree/octree_pointcloud.h>
 #include <pcl/octree/octree_pointcloud_adjacency_container.h>
 
 #include <set>
diff --git a/octree/include/pcl/octree/octree_pointcloud_changedetector.h b/octree/include/pcl/octree/octree_pointcloud_changedetector.h
index cdacc07466b..3de95ad9766 100644
--- a/octree/include/pcl/octree/octree_pointcloud_changedetector.h
+++ b/octree/include/pcl/octree/octree_pointcloud_changedetector.h
@@ -39,7 +39,8 @@
 #ifndef PCL_OCTREE_CHANGEDETECTOR_H
 #define PCL_OCTREE_CHANGEDETECTOR_H
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
+#include <pcl/octree/octree2buf_base.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_density.h b/octree/include/pcl/octree/octree_pointcloud_density.h
index 667011eb880..9137a39bd8c 100644
--- a/octree/include/pcl/octree/octree_pointcloud_density.h
+++ b/octree/include/pcl/octree/octree_pointcloud_density.h
@@ -39,7 +39,7 @@
 #ifndef PCL_OCTREE_DENSITY_H
 #define PCL_OCTREE_DENSITY_H
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_occupancy.h b/octree/include/pcl/octree/octree_pointcloud_occupancy.h
index e61f7e63649..7510257d13c 100644
--- a/octree/include/pcl/octree/octree_pointcloud_occupancy.h
+++ b/octree/include/pcl/octree/octree_pointcloud_occupancy.h
@@ -39,7 +39,7 @@
 #ifndef PCL_OCTREE_OCCUPANCY_H
 #define PCL_OCTREE_OCCUPANCY_H
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_pointvector.h b/octree/include/pcl/octree/octree_pointcloud_pointvector.h
index 41038dea9e5..d5b6a140a80 100644
--- a/octree/include/pcl/octree/octree_pointcloud_pointvector.h
+++ b/octree/include/pcl/octree/octree_pointcloud_pointvector.h
@@ -39,7 +39,7 @@
 #ifndef PCL_OCTREE_POINT_VECTOR_H
 #define PCL_OCTREE_POINT_VECTOR_H
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_singlepoint.h b/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
index 917be167831..7300ac030bb 100644
--- a/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
+++ b/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
@@ -39,7 +39,7 @@
 #ifndef PCL_OCTREE_SINGLE_POINT_H
 #define PCL_OCTREE_SINGLE_POINT_H
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h b/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
index 5101c8f9442..68840f9400c 100644
--- a/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
+++ b/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
@@ -40,11 +40,7 @@
 #ifndef PCL_OCTREE_VOXELCENTROID_H
 #define PCL_OCTREE_VOXELCENTROID_H
 
-#include "octree_pointcloud.h"
-
-#include <pcl/common/point_operators.h>
-#include <pcl/point_types.h>
-#include <pcl/register_point_struct.h>
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/octree/include/pcl/octree/octree_search.h b/octree/include/pcl/octree/octree_search.h
index 564a493a07a..08e99793d62 100644
--- a/octree/include/pcl/octree/octree_search.h
+++ b/octree/include/pcl/octree/octree_search.h
@@ -40,9 +40,8 @@
 #define PCL_OCTREE_SEARCH_H_
 
 #include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
 
-#include "octree_pointcloud.h"
+#include <pcl/octree/octree_pointcloud.h>
 
 namespace pcl
 {
diff --git a/segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp
index c9748c668cc..34f55b5b671 100644
--- a/segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp
+++ b/segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp
@@ -39,6 +39,7 @@
 #define PCL_SEGMENTATION_IMPL_LCCP_SEGMENTATION_HPP_
 
 #include <pcl/segmentation/lccp_segmentation.h>
+#include <pcl/common/common.h>
 
 
 //////////////////////////////////////////////////////////
diff --git a/segmentation/include/pcl/segmentation/supervoxel_clustering.h b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
index bfb82337a59..47029861b7f 100644
--- a/segmentation/include/pcl/segmentation/supervoxel_clustering.h
+++ b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
@@ -45,7 +45,7 @@
 #include <pcl/pcl_base.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
-#include <pcl/octree/octree.h>
+#include <pcl/octree/octree_search.h>
 #include <pcl/octree/octree_pointcloud_adjacency.h>
 #include <pcl/search/search.h>
 #include <pcl/segmentation/boost.h>
diff --git a/segmentation/src/supervoxel_clustering.cpp b/segmentation/src/supervoxel_clustering.cpp
index f4685758fb4..c2d5a109a3e 100644
--- a/segmentation/src/supervoxel_clustering.cpp
+++ b/segmentation/src/supervoxel_clustering.cpp
@@ -171,4 +171,4 @@ template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA
 
 template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZ, AdjacencyContainerT>;
 template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGB, AdjacencyContainerRGBT>;
-template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, AdjacencyContainerRGBAT>;
\ No newline at end of file
+template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, AdjacencyContainerRGBAT>;
diff --git a/tracking/include/pcl/tracking/particle_filter.h b/tracking/include/pcl/tracking/particle_filter.h
index 7221caa31f8..8a9d3382959 100644
--- a/tracking/include/pcl/tracking/particle_filter.h
+++ b/tracking/include/pcl/tracking/particle_filter.h
@@ -5,13 +5,12 @@
 #include <pcl/tracking/tracker.h>
 #include <pcl/tracking/coherence.h>
 #include <pcl/filters/passthrough.h>
-#include <pcl/octree/octree.h>
+#include <pcl/octree/octree_pointcloud_changedetector.h>
 
 #include <Eigen/Dense>
 
 namespace pcl
 {
-
   namespace tracking
   {
     /** \brief @b ParticleFilterTracker tracks the PointCloud which is given by