diff --git a/filters/include/pcl/filters/boost.h b/filters/include/pcl/filters/boost.h
index b7feccf8fb2..88ae24d709b 100644
--- a/filters/include/pcl/filters/boost.h
+++ b/filters/include/pcl/filters/boost.h
@@ -54,5 +54,4 @@
 #include <boost/unordered_map.hpp>
 #include <boost/fusion/sequence/intrinsic/at_key.hpp>
 #include <boost/bind.hpp>
-#include <boost/function.hpp>
 #include <boost/optional.hpp>
diff --git a/filters/include/pcl/filters/model_outlier_removal.h b/filters/include/pcl/filters/model_outlier_removal.h
index d968def0065..5aad78594ff 100644
--- a/filters/include/pcl/filters/model_outlier_removal.h
+++ b/filters/include/pcl/filters/model_outlier_removal.h
@@ -173,7 +173,7 @@ namespace pcl
        * \param[in] thresh pointer to a threshold function
        */
       void
-      setThresholdFunction (boost::function<bool (double)> thresh)
+      setThresholdFunction (std::function<bool (double)> thresh)
       {
         threshold_function_ = thresh;
       }
@@ -235,7 +235,7 @@ namespace pcl
 
       /** \brief The type of model to use (user given parameter). */
       pcl::SacModel model_type_;
-      boost::function<bool (double)> threshold_function_;
+      std::function<bool (double)> threshold_function_;
 
       inline bool
       checkSingleThreshold (double value)
diff --git a/keypoints/include/pcl/keypoints/keypoint.h b/keypoints/include/pcl/keypoints/keypoint.h
index 8b24101329e..ce5d3dc5417 100644
--- a/keypoints/include/pcl/keypoints/keypoint.h
+++ b/keypoints/include/pcl/keypoints/keypoint.h
@@ -39,10 +39,10 @@
 
 // PCL includes
 #include <pcl/pcl_base.h>
-#include <boost/function.hpp>
 #include <boost/bind.hpp>
 #include <pcl/search/pcl_search.h>
 #include <pcl/pcl_config.h>
+#include <functional>
 
 namespace pcl
 {
@@ -67,8 +67,8 @@ namespace pcl
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
       typedef pcl::PointCloud<PointOutT> PointCloudOut;
-      typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
-      typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;
+      typedef std::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
+      typedef std::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;
 
     public:
       /** \brief Empty constructor. */
diff --git a/octree/include/pcl/octree/boost.h b/octree/include/pcl/octree/boost.h
index f5cde574898..8db30618fb2 100644
--- a/octree/include/pcl/octree/boost.h
+++ b/octree/include/pcl/octree/boost.h
@@ -45,4 +45,3 @@
 
 // Marking all Boost headers as system headers to remove warnings
 #include <boost/graph/adjacency_list.hpp>
-#include <boost/function.hpp>
diff --git a/octree/include/pcl/octree/octree_pointcloud_adjacency.h b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
index 15077fb3c7e..47ada826b39 100644
--- a/octree/include/pcl/octree/octree_pointcloud_adjacency.h
+++ b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
@@ -154,7 +154,7 @@ namespace pcl
           * \param[in] transform_func A boost:function pointer to the transform to be used. The transform must have one
           * parameter (a point) which it modifies in place. */
         void
-        setTransformFunction (boost::function<void (PointT &p)> transform_func)
+        setTransformFunction (std::function<void (PointT &p)> transform_func)
         {
           transform_func_ = transform_func;
         }
@@ -216,7 +216,7 @@ namespace pcl
         /// Local leaf pointer vector used to make iterating through leaves fast.
         LeafVectorT leaf_vector_;
 
-        boost::function<void (PointT &p)> transform_func_;
+        std::function<void (PointT &p)> transform_func_;
 
     };
 
diff --git a/people/apps/main_ground_based_people_detection.cpp b/people/apps/main_ground_based_people_detection.cpp
index c61b17382e4..e0e0b609b9c 100644
--- a/people/apps/main_ground_based_people_detection.cpp
+++ b/people/apps/main_ground_based_people_detection.cpp
@@ -142,7 +142,7 @@ int main (int argc, char** argv)
   PointCloudT::Ptr cloud (new PointCloudT);
   bool new_cloud_available_flag = false;
   pcl::Grabber* interface = new pcl::OpenNIGrabber();
-  boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
+  std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
       boost::bind (&cloud_cb_, _1, cloud, &new_cloud_available_flag);
   interface->registerCallback (f);
   interface->start ();
diff --git a/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h b/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
index d1904322481..4823e5f5efc 100644
--- a/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
+++ b/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
@@ -37,11 +37,11 @@
 
 #pragma once
 
-#include <boost/function.hpp>
-
 #include <pcl/pcl_base.h>
 #include <pcl/search/pcl_search.h>
 
+#include <functional>
+
 namespace pcl
 {
   typedef std::vector<pcl::PointIndices> IndicesClusters;
@@ -148,7 +148,7 @@ namespace pcl
       /** \brief Set the condition that needs to hold for neighboring points to be considered part of the same cluster.
         * This is an overloaded function provided for convenience. See the documentation for setConditionFunction(). */
       inline void
-      setConditionFunction (boost::function<bool (const PointT&, const PointT&, float)> condition_function)
+      setConditionFunction (std::function<bool (const PointT&, const PointT&, float)> condition_function)
       {
         condition_function_ = condition_function;
       }
@@ -237,7 +237,7 @@ namespace pcl
       SearcherPtr searcher_;
 
       /** \brief The condition function that needs to hold for clustering */
-      boost::function<bool (const PointT&, const PointT&, float)> condition_function_;
+      std::function<bool (const PointT&, const PointT&, float)> condition_function_;
 
       /** \brief The distance to scan for cluster candidates (default = 0.0) */
       float cluster_tolerance_;
diff --git a/surface/include/pcl/surface/boost.h b/surface/include/pcl/surface/boost.h
index 731defeefbc..dc522b99af0 100644
--- a/surface/include/pcl/surface/boost.h
+++ b/surface/include/pcl/surface/boost.h
@@ -44,7 +44,6 @@
 #endif
 
 #include <boost/bind.hpp>
-#include <boost/function.hpp>
 #include <boost/unordered_map.hpp>
 #include <boost/dynamic_bitset/dynamic_bitset.hpp>
 #include <boost/shared_ptr.hpp>
diff --git a/surface/include/pcl/surface/impl/mls.hpp b/surface/include/pcl/surface/impl/mls.hpp
index 368690f0aba..d26b9f47ac4 100644
--- a/surface/include/pcl/surface/impl/mls.hpp
+++ b/surface/include/pcl/surface/impl/mls.hpp
@@ -719,7 +719,7 @@ pcl::MLSResult::computeMLSSurface (const pcl::PointCloud<PointT> &cloud,
                                    const std::vector<int> &nn_indices,
                                    double search_radius,
                                    int polynomial_order,
-                                   boost::function<double(const double)> weight_func)
+                                   std::function<double(const double)> weight_func)
 {
   // Compute the plane coefficients
   EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;
@@ -777,7 +777,7 @@ pcl::MLSResult::computeMLSSurface (const pcl::PointCloud<PointT> &cloud,
     {
       // Note: The max_sq_radius parameter is only used if weight_func was not defined
       double max_sq_radius = 1;
-      if (weight_func.empty())
+      if (!weight_func)
       {
         max_sq_radius = search_radius * search_radius;
         weight_func = boost::bind (&pcl::MLSResult::computeMLSWeight, this, _1, max_sq_radius);
diff --git a/surface/include/pcl/surface/mls.h b/surface/include/pcl/surface/mls.h
index 4fbeafa7262..c159e6b5312 100644
--- a/surface/include/pcl/surface/mls.h
+++ b/surface/include/pcl/surface/mls.h
@@ -39,11 +39,10 @@
 
 #pragma once
 
+#include <functional>
 #include <map>
 #include <random>
 
-#include <boost/function.hpp>
-
 // PCL includes
 #include <pcl/pcl_base.h>
 #include <pcl/search/pcl_search.h>
@@ -210,7 +209,7 @@ namespace pcl
                        const std::vector<int> &nn_indices,
                        double search_radius,
                        int polynomial_order = 2,
-                       boost::function<double(const double)> weight_func = {});
+                       std::function<double(const double)> weight_func = {});
 
     Eigen::Vector3d query_point;  /**< \brief The query point about which the mls surface was generated */
     Eigen::Vector3d mean;         /**< \brief The mean point of all the neighbors. */
@@ -274,7 +273,7 @@ namespace pcl
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
 
-      typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
+      typedef std::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
 
       enum UpsamplingMethod
       {