diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
index 47668e169a4..831e32e29b0 100644
--- a/apps/cloud_composer/CMakeLists.txt
+++ b/apps/cloud_composer/CMakeLists.txt
@@ -64,17 +64,9 @@ set(INTERFACE_SOURCES
   src/tool_interface/abstract_tool.cpp
 )
 
-# Build pcl_cc_tool_interface as static library, to fix issue mentioned in #2708
-set(PCL_LIB_TYPE_ORIGIN ${PCL_LIB_TYPE})
-set(PCL_LIB_TYPE STATIC)
-
 PCL_ADD_LIBRARY(pcl_cc_tool_interface COMPONENT ${SUBSUBSYS_NAME} SOURCES ${INTERFACE_HEADERS} ${INTERFACE_SOURCES})
-
-
 target_link_libraries(pcl_cc_tool_interface pcl_common pcl_features pcl_filters pcl_search pcl_visualization ${QTX}::Widgets)
 
-set(PCL_LIB_TYPE ${PCL_LIB_TYPE_ORIGIN})
-
 if(APPLE)
   set_target_properties(pcl_cc_tool_interface PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
 endif()
@@ -134,7 +126,6 @@ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${impl_incs})
 
 PCL_MAKE_PKGCONFIG(${EXE_NAME} COMPONENT ${SUBSUBSYS_NAME} DESC ${SUBSYS_DESC})
 
-
 #TOOL buildING SCRIPTS
 include(ComposerTool.cmake REQUIRED)
 
diff --git a/apps/cloud_composer/ComposerTool.cmake b/apps/cloud_composer/ComposerTool.cmake
index bf6d80b64da..0560361c363 100644
--- a/apps/cloud_composer/ComposerTool.cmake
+++ b/apps/cloud_composer/ComposerTool.cmake
@@ -4,7 +4,7 @@ function(define_composer_tool TOOL_NAME TOOL_SOURCES TOOL_HEADERS DEPS)
   project(pcl_cc_tool_${TOOL_NAME})
 
   set(TOOL_TARGET pcl_cc_tool_${TOOL_NAME})
-  PCL_ADD_LIBRARY(${TOOL_TARGET} COMPONENT ${SUBSYS_NAME} SOURCES ${TOOL_SOURCES} ${TOOL_HEADERS})
+  PCL_ADD_LIBRARY(${TOOL_TARGET} COMPONENT ${SUBSYS_NAME} SOURCES ${TOOL_SOURCES} ${TOOL_HEADERS} EXPORT_SYMBOLS FALSE)
   
   if(WIN32)
     set_target_properties (${TOOL_TARGET} PROPERTIES RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CLOUD_COMPOSER_PLUGIN_DIR}
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h
index 9ef05cde3e8..d5d50a3eff6 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h
@@ -38,6 +38,7 @@
 #pragma once
 
 #include <pcl/apps/cloud_composer/items/cloud_item.h>
+#include <pcl/pcl_exports.h>
 
 #include <QUndoCommand>
 
@@ -50,7 +51,7 @@ struct OutputPair {
   QList<CloudComposerItem*> output_items_;
 };
 
-class CloudCommand : public QUndoCommand {
+class PCL_EXPORTS CloudCommand : public QUndoCommand {
 public:
   CloudCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
@@ -116,7 +117,7 @@ class CloudCommand : public QUndoCommand {
   int template_type_{-1};
 };
 
-class ModifyItemCommand : public CloudCommand {
+class PCL_EXPORTS ModifyItemCommand : public CloudCommand {
 public:
   ModifyItemCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
@@ -132,7 +133,7 @@ class ModifyItemCommand : public CloudCommand {
 private:
 };
 
-class NewItemCloudCommand : public CloudCommand {
+class PCL_EXPORTS NewItemCloudCommand : public CloudCommand {
 public:
   NewItemCloudCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
@@ -146,7 +147,7 @@ class NewItemCloudCommand : public CloudCommand {
   redo() override;
 };
 
-class SplitCloudCommand : public CloudCommand {
+class PCL_EXPORTS SplitCloudCommand : public CloudCommand {
 public:
   SplitCloudCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
@@ -162,7 +163,7 @@ class SplitCloudCommand : public CloudCommand {
 private:
 };
 
-class DeleteItemCommand : public CloudCommand {
+class PCL_EXPORTS DeleteItemCommand : public CloudCommand {
 public:
   DeleteItemCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
@@ -178,7 +179,7 @@ class DeleteItemCommand : public CloudCommand {
 private:
 };
 
-class MergeCloudCommand : public CloudCommand {
+class PCL_EXPORTS MergeCloudCommand : public CloudCommand {
 public:
   /** \brief Construct for a merge command
    *  \param[in] input_data Input list of CloudItem s from the project model which will
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h
index 3a60dcc1d8b..2def559f3d3 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h
@@ -39,6 +39,7 @@
 
 #include <pcl/apps/cloud_composer/properties_model.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/pcl_exports.h>
 #include <pcl/point_types.h>
 
 static QStringList ITEM_TYPES_STRINGS(QStringList() << "Cloud Composer Item"
@@ -62,7 +63,7 @@ enum {
   KD_TREE_SEARCH
 };
 };
-class CloudComposerItem : public QStandardItem {
+class PCL_EXPORTS CloudComposerItem : public QStandardItem {
 public:
   enum ItemType {
     CLOUD_COMPOSER_ITEM = QStandardItem::UserType,
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h
index 126e8ff2faa..906cf81c755 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h
@@ -43,6 +43,7 @@
 #include <pcl/visualization/point_cloud_color_handlers.h>
 #include <pcl/visualization/point_cloud_geometry_handlers.h>
 #include <pcl/memory.h>
+#include <pcl/pcl_exports.h>
 #include <pcl/pcl_macros.h>
 #include <pcl/PCLPointCloud2.h>
 #include <pcl/point_cloud.h>
@@ -68,7 +69,7 @@ enum PointType {
   AXIS = (1 << 5),
 };
 }
-class CloudItem : public CloudComposerItem {
+class PCL_EXPORTS CloudItem : public CloudComposerItem {
 public:
   // This is needed because we have members which are Vector4f and Quaternionf
   PCL_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h
index e1241504fa1..a90c88e179d 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h
@@ -41,12 +41,13 @@
 #include <pcl/features/fpfh.h>
 #include <pcl/visualization/pcl_plotter.h>
 #include <pcl/visualization/qvtk_compatibility.h>
+#include <pcl/pcl_exports.h>
 #include <pcl/point_types.h>
 
 namespace pcl {
 namespace cloud_composer {
 
-class FPFHItem : public CloudComposerItem {
+class PCL_EXPORTS FPFHItem : public CloudComposerItem {
 public:
   FPFHItem(QString name,
            const pcl::PointCloud<pcl::FPFHSignature33>::Ptr& fpfh_ptr,
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/normals_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/normals_item.h
index 40fb5c3cfdc..a093bf10878 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/normals_item.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/normals_item.h
@@ -44,7 +44,7 @@
 namespace pcl {
 namespace cloud_composer {
 
-class NormalsItem : public CloudComposerItem {
+class PCL_EXPORTS NormalsItem : public CloudComposerItem {
 public:
   NormalsItem(QString name,
               const pcl::PointCloud<pcl::Normal>::Ptr& normals_ptr,
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h
index f7905862197..fb5c82ee912 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h
@@ -76,7 +76,7 @@ class SelectedTrackballStyleInteractor;
 class ClickTrackballStyleInteractor;
 class ProjectModel;
 
-class InteractorStyleSwitch : public vtkInteractorStyle {
+class PCL_EXPORTS InteractorStyleSwitch : public vtkInteractorStyle {
 public:
   static InteractorStyleSwitch*
   New();
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h
index e32d819afae..36bb9c76517 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h
@@ -49,7 +49,7 @@ namespace pcl {
 namespace cloud_composer {
 class RectangularFrustumSelector;
 
-class SelectionEvent {
+class PCL_EXPORTS SelectionEvent {
 
 public:
   SelectionEvent(vtkSmartPointer<vtkPolyData> selected_points,
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/properties_model.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/properties_model.h
index a4747ca42a5..818b064d239 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/properties_model.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/properties_model.h
@@ -37,12 +37,14 @@
 
 #pragma once
 
+#include <pcl/pcl_exports.h>
+
 #include <QStandardItemModel>
 
 namespace pcl {
 namespace cloud_composer {
 class CloudComposerItem;
-class PropertiesModel : public QStandardItemModel {
+class PCL_EXPORTS PropertiesModel : public QStandardItemModel {
   Q_OBJECT
 public:
   /** \brief Constructor used for tool parameters */
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/abstract_tool.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/abstract_tool.h
index aac5565ef4c..95acc5111d5 100644
--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/abstract_tool.h
+++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/abstract_tool.h
@@ -40,13 +40,14 @@
 #include <pcl/apps/cloud_composer/commands.h>
 #include <pcl/apps/cloud_composer/items/cloud_item.h>
 #include <pcl/apps/cloud_composer/properties_model.h>
+#include <pcl/pcl_exports.h>
 
 #include <QDebug>
 
 namespace pcl {
 namespace cloud_composer {
 
-class AbstractTool : public QObject {
+class PCL_EXPORTS AbstractTool : public QObject {
   Q_OBJECT
 public:
   AbstractTool(PropertiesModel* parameter_model, QObject* parent);
@@ -87,7 +88,7 @@ class AbstractTool : public QObject {
   QString action_text_;
 };
 
-class ModifyItemTool : public AbstractTool {
+class PCL_EXPORTS ModifyItemTool : public AbstractTool {
   Q_OBJECT
 public:
   ModifyItemTool(PropertiesModel* parameter_model, QObject* parent)
@@ -111,7 +112,7 @@ class ModifyItemTool : public AbstractTool {
   }
 };
 
-class NewItemTool : public AbstractTool {
+class PCL_EXPORTS NewItemTool : public AbstractTool {
   Q_OBJECT
 public:
   NewItemTool(PropertiesModel* parameter_model, QObject* parent)
@@ -135,7 +136,7 @@ class NewItemTool : public AbstractTool {
   }
 };
 
-class SplitItemTool : public AbstractTool {
+class PCL_EXPORTS SplitItemTool : public AbstractTool {
   Q_OBJECT
 public:
   SplitItemTool(PropertiesModel* parameter_model, QObject* parent)
@@ -159,7 +160,7 @@ class SplitItemTool : public AbstractTool {
   }
 };
 
-class MergeCloudTool : public AbstractTool {
+class PCL_EXPORTS MergeCloudTool : public AbstractTool {
   Q_OBJECT
 public:
   MergeCloudTool(PropertiesModel* parameter_model, QObject* parent)
diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
index 32281f20700..57634fbbbba 100644
--- a/cmake/pcl_targets.cmake
+++ b/cmake/pcl_targets.cmake
@@ -171,7 +171,7 @@ endmacro()
 # SOURCES The source files for the library.
 function(PCL_ADD_LIBRARY _name)
   set(options)
-  set(oneValueArgs COMPONENT)
+  set(oneValueArgs COMPONENT EXPORT_SYMBOLS)
   set(multiValueArgs SOURCES INCLUDES)
   cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
@@ -222,11 +222,22 @@ function(PCL_ADD_LIBRARY _name)
     if(MSVC)
       target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
     endif()
-    
+
+    if(NOT DEFINED ARGS_EXPORT_SYMBOLS)
+      set(ARGS_EXPORT_SYMBOLS TRUE)
+    endif()
+
+    if(ARGS_EXPORT_SYMBOLS)
+      if(PCL_SHARED_LIBS)
+        target_compile_definitions(${_name} PRIVATE PCLAPI_EXPORTS)
+      else()
+        target_compile_definitions(${_name} PRIVATE PCL_STATIC_DEFINE)
+      endif()
+    endif()
+
     set_target_properties(${_name} PROPERTIES
       VERSION ${PCL_VERSION}
-      SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-      DEFINE_SYMBOL "PCLAPI_EXPORTS")
+      SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
 
       set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
   endif()
@@ -249,7 +260,7 @@ endfunction()
 # SOURCES The source files for the library.
 function(PCL_CUDA_ADD_LIBRARY _name)
   set(options)
-  set(oneValueArgs COMPONENT)
+  set(oneValueArgs COMPONENT EXPORT_SYMBOLS)
   set(multiValueArgs SOURCES INCLUDES)
   cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
@@ -293,11 +304,19 @@ function(PCL_CUDA_ADD_LIBRARY _name)
     if(MSVC)
       target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
     endif()
-  
-    set_target_properties(${_name} PROPERTIES
-      VERSION ${PCL_VERSION}
-      SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-      DEFINE_SYMBOL "PCLAPI_EXPORTS")
+
+    if(NOT DEFINED ARGS_EXPORT_SYMBOLS)
+      set(ARGS_EXPORT_SYMBOLS TRUE)
+    endif()
+
+    if(ARGS_EXPORT_SYMBOLS)
+      if(PCL_SHARED_LIBS)
+        target_compile_definitions(${_name} PRIVATE PCLAPI_EXPORTS)
+      else()
+        target_compile_definitions(${_name} PRIVATE PCL_STATIC_DEFINE)
+      endif()
+    endif()
+
     set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
   endif()
 
diff --git a/common/include/pcl/common/intersections.h b/common/include/pcl/common/intersections.h
index 687a69d0a12..ec1e36a1b2e 100644
--- a/common/include/pcl/common/intersections.h
+++ b/common/include/pcl/common/intersections.h
@@ -57,7 +57,7 @@ namespace pcl
     * \param[in] sqr_eps maximum allowable squared distance to the true solution
     * \ingroup common
     */
-  PCL_EXPORTS inline bool
+  inline bool
   lineWithLineIntersection (const Eigen::VectorXf &line_a, 
                             const Eigen::VectorXf &line_b, 
                             Eigen::Vector4f &point,
@@ -71,7 +71,7 @@ namespace pcl
     * \ingroup common
     */
 
-  PCL_EXPORTS inline bool
+  inline bool
   lineWithLineIntersection (const pcl::ModelCoefficients &line_a, 
                             const pcl::ModelCoefficients &line_b, 
                             Eigen::Vector4f &point,
diff --git a/common/include/pcl/console/print.h b/common/include/pcl/console/print.h
index 8bad2c91e61..f7828526b28 100644
--- a/common/include/pcl/console/print.h
+++ b/common/include/pcl/console/print.h
@@ -288,7 +288,7 @@ namespace pcl
       * \param format the message
       */
     template <typename... Args>
-    PCL_EXPORTS void 
+    void 
     print_info(FILE* stream, const std::string format, Args&&... args)
     {
       print(L_INFO, stream, format, std::forward<Args>(args)...);
@@ -298,7 +298,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_info(const std::string format, Args&&... args)
     {
       print_info(stdout, format, std::forward<Args>(args)...);
@@ -309,7 +309,7 @@ namespace pcl
       * \param format the message
       */
     template <typename... Args>
-    PCL_EXPORTS void 
+    void 
     print_error(FILE* stream, const std::string format, Args&&... args)
     {
       print(L_ERROR, stream, format, std::forward<Args>(args)...);
@@ -319,7 +319,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_error(std::string format, Args&&... args)
     {
       print_error(stderr, format, std::forward<Args>(args)...);
@@ -330,7 +330,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_warn(FILE* stream, const std::string format, Args&&... args)
     {
       print(L_WARN, stream, format, std::forward<Args>(args)...);
@@ -340,7 +340,7 @@ namespace pcl
       * \param format the message
       */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_warn(std::string format, Args&&... args)
     {
       print_warn(stderr, format, std::forward<Args>(args)...);
@@ -351,7 +351,7 @@ namespace pcl
       * \param format the message
       */
     template <typename... Args>
-    PCL_EXPORTS void 
+    void 
     print_debug(FILE* stream, const std::string format, Args&&... args)
     {
       print(L_DEBUG, stream, format, std::forward<Args>(args)...);
@@ -361,7 +361,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_debug(const std::string format, Args&&... args)
     {
       print_debug(stdout, format, std::forward<Args>(args)...);
@@ -374,7 +374,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_color(FILE* stream, int attr, int fg, const std::string format, Args&&... args)
     {
       const auto str = to_string(format, std::forward<Args>(args)...);
@@ -387,7 +387,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_value(FILE* stream, const std::string format, Args&&... args)
     {
       const auto str = to_string(format, std::forward<Args>(args)...);
@@ -399,7 +399,7 @@ namespace pcl
       * \param format the message
       */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_value(const std::string format, Args&&... args)
     {
       print_value(stdout, format, std::forward<Args>(args)...);
@@ -411,7 +411,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print(VERBOSITY_LEVEL level, FILE* stream, const std::string format, Args&&...args)
     {
       if (!pcl::console::isVerbosityLevelEnabled(level))
@@ -445,7 +445,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_highlight(FILE* stream, const std::string format, Args... args)
     {
       const auto str = to_string(format, std::forward<Args>(args)...);
@@ -458,7 +458,7 @@ namespace pcl
      * \param format the message
      */
     template <typename... Args>
-    PCL_EXPORTS void
+    void
     print_highlight(const std::string format, Args&&...args)
     {
       print_highlight(stdout, format, std::forward<Args>(args)...);
diff --git a/common/include/pcl/impl/point_types.hpp b/common/include/pcl/impl/point_types.hpp
index c12552f8463..104d0280ab6 100644
--- a/common/include/pcl/impl/point_types.hpp
+++ b/common/include/pcl/impl/point_types.hpp
@@ -317,7 +317,7 @@ namespace pcl
 
     inline constexpr PointXYZ (float _x, float _y, float _z) : _PointXYZ{{{_x, _y, _z, 1.f}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZ& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZ& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -358,7 +358,7 @@ namespace pcl
 
     inline constexpr RGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a = 255) : _RGB{{{{_b, _g, _r, _a}}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const RGB& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const RGB& p);
   };
 
   struct _Intensity
@@ -377,7 +377,7 @@ namespace pcl
 
     inline constexpr Intensity (float _intensity = 0.f) : _Intensity{_intensity} {}
 
-    friend std::ostream& operator << (std::ostream& os, const Intensity& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Intensity& p);
   };
 
 
@@ -404,7 +404,7 @@ namespace pcl
     }
 #endif
 
-    friend std::ostream& operator << (std::ostream& os, const Intensity8u& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Intensity8u& p);
   };
 
   struct _Intensity32u
@@ -423,7 +423,7 @@ namespace pcl
 
     inline constexpr Intensity32u (std::uint32_t _intensity = 0) : _Intensity32u{_intensity} {}
 
-    friend std::ostream& operator << (std::ostream& os, const Intensity32u& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Intensity32u& p);
   };
 
   /** \brief A point structure representing Euclidean xyz coordinates, and the intensity value.
@@ -452,7 +452,7 @@ namespace pcl
 
     inline constexpr PointXYZI (float _x, float _y, float _z, float _intensity = 0.f) : _PointXYZI{{{_x, _y, _z, 1.0f}}, {{_intensity}}} {}
     
-    friend std::ostream& operator << (std::ostream& os, const PointXYZI& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZI& p);
   };
 
 
@@ -472,7 +472,7 @@ namespace pcl
 
     inline constexpr PointXYZL (float _x, float _y, float _z, std::uint32_t _label = 0) : _PointXYZL{{{_x, _y, _z, 1.0f}}, _label} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZL& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZL& p);
   };
 
 
@@ -483,7 +483,7 @@ namespace pcl
 
     inline constexpr Label (std::uint32_t _label = 0): label(_label) {}
 
-    friend std::ostream& operator << (std::ostream& os, const Label& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Label& p);
   };
 
 
@@ -530,7 +530,7 @@ namespace pcl
     inline constexpr PointXYZRGBA (float _x, float _y, float _z, std::uint8_t _r,
                          std::uint8_t _g, std::uint8_t _b, std::uint8_t _a) : _PointXYZRGBA{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
   };
 
 
@@ -597,7 +597,7 @@ namespace pcl
                          std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
       _PointXYZRGB{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, 255}}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZRGB& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZRGB& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -621,7 +621,7 @@ namespace pcl
                          std::uint32_t _label = 0, std::uint8_t _a = 255) :
       _PointXYZRGBL{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}, _label} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBL& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZRGBL& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -656,7 +656,7 @@ namespace pcl
                         float _l, float _a, float _b) :
       _PointXYZLAB{ {{_x, _y, _z, 1.0f}}, {{_l, _a, _b}} } {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZLAB& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZLAB& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -694,7 +694,7 @@ namespace pcl
                         float _h, float _s, float _v) :
       _PointXYZHSV{{{_x, _y, _z, 1.0f}}, {{_h, _s, _v}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZHSV& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZHSV& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -721,7 +721,7 @@ namespace pcl
     inline pcl::Vector2fMap getVector2fMap () { return (pcl::Vector2fMap (data)); }
     inline pcl::Vector2fMapConst getVector2fMap () const { return (pcl::Vector2fMapConst (data)); }
     
-    friend std::ostream& operator << (std::ostream& os, const PointXY& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXY& p);
   };
   // NOLINTEND(modernize-use-default-member-init)
 
@@ -739,7 +739,7 @@ namespace pcl
 
     inline constexpr PointUV(float _u, float _v): u(_u), v(_v) {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointUV& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointUV& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const InterestPoint& p);
@@ -760,7 +760,7 @@ namespace pcl
     };
     PCL_MAKE_ALIGNED_OPERATOR_NEW
 
-    friend std::ostream& operator << (std::ostream& os, const InterestPoint& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const InterestPoint& p);
   };
 
   struct EIGEN_ALIGN16 _Normal
@@ -790,7 +790,7 @@ namespace pcl
     inline constexpr Normal (float n_x, float n_y, float n_z, float _curvature = 0.f) :
       _Normal{{{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const Normal& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Normal& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -813,7 +813,7 @@ namespace pcl
 
     inline constexpr Axis (float n_x, float n_y, float n_z) : _Axis{{{n_x, n_y, n_z, 0.0f}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const Axis& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Axis& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -849,7 +849,7 @@ namespace pcl
     inline constexpr PointNormal (float _x, float _y, float _z, float n_x, float n_y, float n_z, float _curvature = 0.f) :
       _PointNormal{{{_x, _y, _z, 1.0f}}, {{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointNormal& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointNormal& p);
   };
 
 
@@ -936,7 +936,7 @@ namespace pcl
     {}
 
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBNormal& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZRGBNormal& p);
   };
 
   struct EIGEN_ALIGN16 _PointXYZINormal
@@ -978,7 +978,7 @@ namespace pcl
       }
     {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZINormal& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZINormal& p);
   };
 
 //----
@@ -1021,7 +1021,7 @@ namespace pcl
       }
     {} 
 
-    friend std::ostream& operator << (std::ostream& os, const PointXYZLNormal& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointXYZLNormal& p);
   };
 
 //  ---
@@ -1054,7 +1054,7 @@ namespace pcl
     inline constexpr PointWithRange (float _x, float _y, float _z, float _range = 0.f) :
       _PointWithRange{{{_x, _y, _z, 1.0f}}, {{_range}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointWithRange& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointWithRange& p);
   };
 
 
@@ -1089,7 +1089,7 @@ namespace pcl
     inline constexpr PointWithViewpoint (float _x, float _y, float _z, float _vp_x, float _vp_y, float _vp_z) :
       _PointWithViewpoint{{{_x, _y, _z, 1.0f}}, {{_vp_x, _vp_y, _vp_z}}} {}
 
-    friend std::ostream& operator << (std::ostream& os, const PointWithViewpoint& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointWithViewpoint& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
@@ -1104,7 +1104,7 @@ namespace pcl
 
     inline constexpr MomentInvariants (float _j1, float _j2, float _j3): j1 (_j1), j2 (_j2), j3 (_j3) {}
 
-    friend std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
@@ -1119,7 +1119,7 @@ namespace pcl
 
     inline constexpr PrincipalRadiiRSD (float _r_min, float _r_max): r_min (_r_min), r_max (_r_max) {}
 
-    friend std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Boundary& p);
@@ -1139,7 +1139,7 @@ namespace pcl
 
     inline constexpr Boundary (std::uint8_t _boundary = 0): boundary_point (_boundary) {}
 
-    friend std::ostream& operator << (std::ostream& os, const Boundary& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Boundary& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
@@ -1170,7 +1170,7 @@ namespace pcl
     inline constexpr PrincipalCurvatures (float _x, float _y, float _z, float _pc1, float _pc2):
       principal_curvature_x (_x), principal_curvature_y (_y), principal_curvature_z (_z), pc1 (_pc1), pc2 (_pc2) {}
 
-    friend std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
@@ -1184,7 +1184,7 @@ namespace pcl
 
     inline constexpr PFHSignature125 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
   };
 
 
@@ -1199,7 +1199,7 @@ namespace pcl
 
     inline constexpr PFHRGBSignature250 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFSignature& p);
@@ -1216,7 +1216,7 @@ namespace pcl
     inline constexpr PPFSignature (float _f1, float _f2, float _f3, float _f4, float _alpha = 0.f):
       f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), alpha_m (_alpha) {}
 
-    friend std::ostream& operator << (std::ostream& os, const PPFSignature& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PPFSignature& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
@@ -1236,7 +1236,7 @@ namespace pcl
       f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), f5 (_f5), f6 (_f6),
       f7 (_f7), f8 (_f8), f9 (_f9), f10 (_f10), alpha_m (_alpha) {}
 
-    friend std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
@@ -1257,7 +1257,7 @@ namespace pcl
     inline constexpr PPFRGBSignature (float _f1, float _f2, float _f3, float _f4, float _alpha, float _r, float _g, float _b):
       f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), r_ratio (_r), g_ratio (_g), b_ratio (_b), alpha_m (_alpha) {}
 
-    friend std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const NormalBasedSignature12& p);
@@ -1271,7 +1271,7 @@ namespace pcl
 
     inline constexpr NormalBasedSignature12 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const NormalBasedSignature12& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const NormalBasedSignature12& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
@@ -1286,7 +1286,7 @@ namespace pcl
 
     inline constexpr ShapeContext1980 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
@@ -1301,7 +1301,7 @@ namespace pcl
 
     inline constexpr UniqueShapeContext1960 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const SHOT352& p);
@@ -1316,7 +1316,7 @@ namespace pcl
 
     inline constexpr SHOT352 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const SHOT352& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const SHOT352& p);
   };
 
 
@@ -1332,7 +1332,7 @@ namespace pcl
 
     inline constexpr SHOT1344 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const SHOT1344& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const SHOT1344& p);
   };
 
 
@@ -1385,7 +1385,7 @@ namespace pcl
     inline constexpr ReferenceFrame (const float (&_rf)[9]) :
       _ReferenceFrame{ {{_rf[0], _rf[1], _rf[2], _rf[3], _rf[4], _rf[5], _rf[6], _rf[7], _rf[8]}} } {}
 
-    friend std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
     PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 
@@ -1401,7 +1401,7 @@ namespace pcl
 
     inline constexpr FPFHSignature33 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const FPFHSignature33& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const FPFHSignature33& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
@@ -1415,7 +1415,7 @@ namespace pcl
 
     inline constexpr VFHSignature308 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
@@ -1429,7 +1429,7 @@ namespace pcl
 
     inline constexpr GRSDSignature21 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
@@ -1447,7 +1447,7 @@ namespace pcl
 
     inline constexpr BRISKSignature512 (float _scale, float _orientation): scale (_scale), orientation (_orientation) {}
 
-    friend std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
@@ -1461,7 +1461,7 @@ namespace pcl
 
     inline constexpr ESFSignature640 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature512& p);
@@ -1475,7 +1475,7 @@ namespace pcl
 
     inline constexpr GASDSignature512 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const GASDSignature512& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const GASDSignature512& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature984& p);
@@ -1489,7 +1489,7 @@ namespace pcl
 
     inline constexpr GASDSignature984 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const GASDSignature984& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const GASDSignature984& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature7992& p);
@@ -1503,7 +1503,7 @@ namespace pcl
 
     inline constexpr GASDSignature7992 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const GASDSignature7992& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const GASDSignature7992& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
@@ -1517,7 +1517,7 @@ namespace pcl
 
     inline constexpr GFPFHSignature16 () = default;
 
-    friend std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Narf36& p);
@@ -1537,7 +1537,7 @@ namespace pcl
     inline constexpr Narf36 (float _x, float _y, float _z, float _roll, float _pitch, float _yaw):
       x (_x), y (_y), z (_z), roll (_roll), pitch (_pitch), yaw (_yaw) {}
 
-    friend std::ostream& operator << (std::ostream& os, const Narf36& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const Narf36& p);
   };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const BorderDescription& p);
@@ -1554,7 +1554,7 @@ namespace pcl
 
     inline constexpr BorderDescription (int _x, int _y) : x(_x), y(_y) {}
 
-    friend std::ostream& operator << (std::ostream& os, const BorderDescription& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const BorderDescription& p);
   };
 
 
@@ -1578,7 +1578,7 @@ namespace pcl
     inline constexpr IntensityGradient (): IntensityGradient (0.f, 0.f, 0.f) {}
 
     inline constexpr IntensityGradient (float _x, float _y, float _z): gradient_x (_x), gradient_y (_y), gradient_z (_z) {}
-    friend std::ostream& operator << (std::ostream& os, const IntensityGradient& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const IntensityGradient& p);
   };
 
   // TODO: Maybe make other histogram based structs an alias for this
@@ -1628,7 +1628,7 @@ namespace pcl
                            float _angle = -1.f, float _response = 0.f, int _octave = 0) :
       _PointWithScale{{{_x, _y, _z, 1.0f}}, {_scale}, _angle, _response, _octave } {}
     
-    friend std::ostream& operator << (std::ostream& os, const PointWithScale& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointWithScale& p);
   };
 
 
@@ -1673,7 +1673,7 @@ namespace pcl
       } {}
 
 
-    friend std::ostream& operator << (std::ostream& os, const PointSurfel& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointSurfel& p);
   };
 
   struct EIGEN_ALIGN16 _PointDEM
@@ -1702,7 +1702,7 @@ namespace pcl
                      float _intensity_variance, float _height_variance) :
       _PointDEM{{{_x, _y, _z, 1.0f}}, _intensity, _intensity_variance, _height_variance} {}
     
-    friend std::ostream& operator << (std::ostream& os, const PointDEM& p);
+    PCL_EXPORTS friend std::ostream& operator << (std::ostream& os, const PointDEM& p);
   };
 
   template <int N> std::ostream&
diff --git a/common/include/pcl/pcl_exports.h b/common/include/pcl/pcl_exports.h
index f386303bc46..226080907e5 100644
--- a/common/include/pcl/pcl_exports.h
+++ b/common/include/pcl/pcl_exports.h
@@ -40,16 +40,20 @@
 // Header 'pcl_macros' is not suitable since it includes <Eigen/Core>,
 // which can't be eaten by nvcc (it's too weak)
 
-#if defined _WIN32 || defined WINCE || defined __MINGW32__
-    #ifdef PCLAPI_EXPORTS
-        #define PCL_EXPORTS __declspec(dllexport)
-    #else
-        #define PCL_EXPORTS
-    #endif
+#ifdef PCL_STATIC_DEFINE
+  #define PCL_EXPORTS
 #else
-    #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN
-        #define PCL_EXPORTS __attribute__ ((visibility ("default")))
-    #else
-        #define PCL_EXPORTS
-    #endif
+  #if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
+      #ifdef PCLAPI_EXPORTS
+          #define PCL_EXPORTS __declspec(dllexport)
+      #else
+          #define PCL_EXPORTS __declspec(dllimport)
+      #endif
+  #else
+      #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN
+          #define PCL_EXPORTS __attribute__ ((visibility ("default")))
+      #else
+          #define PCL_EXPORTS
+      #endif
+  #endif
 #endif
diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h
index fdc7e9f9106..a3832b30a47 100644
--- a/common/include/pcl/pcl_macros.h
+++ b/common/include/pcl/pcl_macros.h
@@ -315,18 +315,22 @@ pcl_round (float number)
     #endif
 #endif
 
-#if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
-    #ifdef PCLAPI_EXPORTS
-        #define PCL_EXPORTS __declspec(dllexport)
-    #else
-        #define PCL_EXPORTS
-    #endif
+#ifdef PCL_STATIC_DEFINE
+  #define PCL_EXPORTS
 #else
-    #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN
-        #define PCL_EXPORTS __attribute__ ((visibility ("default")))
-    #else
-        #define PCL_EXPORTS
-    #endif
+  #if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
+      #ifdef PCLAPI_EXPORTS
+          #define PCL_EXPORTS __declspec(dllexport)
+      #else
+          #define PCL_EXPORTS __declspec(dllimport)
+      #endif
+  #else
+      #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN
+          #define PCL_EXPORTS __attribute__ ((visibility ("default")))
+      #else
+          #define PCL_EXPORTS
+      #endif
+  #endif
 #endif
 
 #if defined WIN32 || defined _WIN32
diff --git a/gpu/containers/include/pcl/gpu/containers/device_array.h b/gpu/containers/include/pcl/gpu/containers/device_array.h
index 2930172ee9a..e65acf2a898 100644
--- a/gpu/containers/include/pcl/gpu/containers/device_array.h
+++ b/gpu/containers/include/pcl/gpu/containers/device_array.h
@@ -51,7 +51,7 @@ namespace gpu {
  * \author Anatoly Baksheev
  */
 template <class T>
-class PCL_EXPORTS DeviceArray : public DeviceMemory {
+class DeviceArray : public DeviceMemory {
 public:
   /** \brief Element type. */
   using type = T;
@@ -185,7 +185,7 @@ class PCL_EXPORTS DeviceArray : public DeviceMemory {
  * \author Anatoly Baksheev
  */
 template <class T>
-class PCL_EXPORTS DeviceArray2D : public DeviceMemory2D {
+class DeviceArray2D : public DeviceMemory2D {
 public:
   /** \brief Element type. */
   using type = T;
diff --git a/io/include/pcl/io/file_grabber.h b/io/include/pcl/io/file_grabber.h
index 0f0c378bf68..680f2a3a6c5 100644
--- a/io/include/pcl/io/file_grabber.h
+++ b/io/include/pcl/io/file_grabber.h
@@ -50,7 +50,7 @@ namespace pcl
     * \ingroup io
     */
   template <typename PointT>
-  class PCL_EXPORTS FileGrabber
+  class FileGrabber
   {
   public:
 
diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
index 88b293d0a05..1aa1f48ce7e 100644
--- a/kdtree/CMakeLists.txt
+++ b/kdtree/CMakeLists.txt
@@ -29,7 +29,8 @@ set(impl_incs
 )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
-if(FLANN_FOUND)
+# PCL_ADD_LIBRARY will create an INTERFACE library if no sources are added and a normal library if sources are present.
+if((NOT PCL_NO_PRECOMPILE) AND FLANN_FOUND)
   PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
   target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN)
   set(EXT_DEPS flann)
diff --git a/ml/include/pcl/ml/dt/decision_forest.h b/ml/include/pcl/ml/dt/decision_forest.h
index 861c05e424b..cc1262f2970 100644
--- a/ml/include/pcl/ml/dt/decision_forest.h
+++ b/ml/include/pcl/ml/dt/decision_forest.h
@@ -47,7 +47,7 @@ namespace pcl {
 
 /** Class representing a decision forest. */
 template <class NodeType>
-class PCL_EXPORTS DecisionForest : public std::vector<pcl::DecisionTree<NodeType>> {
+class DecisionForest : public std::vector<pcl::DecisionTree<NodeType>> {
 
 public:
   /** Constructor. */
diff --git a/ml/include/pcl/ml/dt/decision_tree.h b/ml/include/pcl/ml/dt/decision_tree.h
index 6ac38baab58..2c4239e9487 100644
--- a/ml/include/pcl/ml/dt/decision_tree.h
+++ b/ml/include/pcl/ml/dt/decision_tree.h
@@ -46,7 +46,7 @@ namespace pcl {
 
 /** Class representing a decision tree. */
 template <class NodeType>
-class PCL_EXPORTS DecisionTree {
+class DecisionTree {
 public:
   /** Constructor. */
   DecisionTree() : root_() {}
diff --git a/recognition/include/pcl/recognition/implicit_shape_model.h b/recognition/include/pcl/recognition/implicit_shape_model.h
index ea02007e1f5..1fd235c12b5 100644
--- a/recognition/include/pcl/recognition/implicit_shape_model.h
+++ b/recognition/include/pcl/recognition/implicit_shape_model.h
@@ -67,7 +67,7 @@ namespace pcl
     /** \brief This class is used for storing, analyzing and manipulating votes
       * obtained from ISM algorithm. */
     template <typename PointT>
-    class PCL_EXPORTS ISMVoteList
+    class ISMVoteList
     {
       public:
 
@@ -238,7 +238,7 @@ namespace pcl
       * \ingroup recognition
       */
     template <int FeatureSize, typename PointT, typename NormalT = pcl::Normal>
-    class PCL_EXPORTS ImplicitShapeModelEstimation
+    class ImplicitShapeModelEstimation
     {
       public:
 
@@ -249,7 +249,7 @@ namespace pcl
       protected:
 
         /** \brief This structure stores the information about the keypoint. */
-        struct PCL_EXPORTS LocationInfo
+        struct LocationInfo
         {
           /** \brief Location info constructor.
             * \param[in] model_num number of training model.
@@ -278,7 +278,7 @@ namespace pcl
 
         /** \brief This structure is used for determining the end of the
           * k-means clustering process. */
-        struct PCL_EXPORTS TermCriteria
+        struct TermCriteria
         {
           enum
           {
@@ -312,7 +312,7 @@ namespace pcl
         };
 
         /** \brief Structure for storing the visual word. */
-        struct PCL_EXPORTS VisualWordStat
+        struct VisualWordStat
         {
           /** \brief Empty constructor with member variables initialization. */
           VisualWordStat () :
diff --git a/recognition/include/pcl/recognition/linemod/line_rgbd.h b/recognition/include/pcl/recognition/linemod/line_rgbd.h
index b955f38554f..a65b34fa515 100644
--- a/recognition/include/pcl/recognition/linemod/line_rgbd.h
+++ b/recognition/include/pcl/recognition/linemod/line_rgbd.h
@@ -70,7 +70,7 @@ namespace pcl
     * \ingroup recognition
     */
   template <typename PointXYZT, typename PointRGBT=PointXYZT>
-  class PCL_EXPORTS LineRGBD
+  class LineRGBD
   {
     public:
 
diff --git a/recognition/include/pcl/recognition/ransac_based/simple_octree.h b/recognition/include/pcl/recognition/ransac_based/simple_octree.h
index fde0ff0e76e..ea792e8eb8c 100644
--- a/recognition/include/pcl/recognition/ransac_based/simple_octree.h
+++ b/recognition/include/pcl/recognition/ransac_based/simple_octree.h
@@ -55,7 +55,7 @@ namespace pcl
   namespace recognition
   {
     template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
-    class PCL_EXPORTS SimpleOctree
+    class SimpleOctree
     {
       public:
         class Node
diff --git a/recognition/include/pcl/recognition/surface_normal_modality.h b/recognition/include/pcl/recognition/surface_normal_modality.h
index 538e88c598d..9ed1311d510 100644
--- a/recognition/include/pcl/recognition/surface_normal_modality.h
+++ b/recognition/include/pcl/recognition/surface_normal_modality.h
@@ -59,7 +59,7 @@ namespace pcl
   /** \brief Map that stores orientations.
     * \author Stefan Holzer
     */
-  struct PCL_EXPORTS LINEMOD_OrientationMap
+  struct LINEMOD_OrientationMap
   {
     public:
       /** \brief Constructor. */
diff --git a/registration/include/pcl/registration/correspondence_rejection_poly.h b/registration/include/pcl/registration/correspondence_rejection_poly.h
index 16ad6ca841b..51a6dd269c1 100644
--- a/registration/include/pcl/registration/correspondence_rejection_poly.h
+++ b/registration/include/pcl/registration/correspondence_rejection_poly.h
@@ -60,7 +60,7 @@ namespace registration {
  * \ingroup registration
  */
 template <typename SourceT, typename TargetT>
-class PCL_EXPORTS CorrespondenceRejectorPoly : public CorrespondenceRejector {
+class CorrespondenceRejectorPoly : public CorrespondenceRejector {
   using CorrespondenceRejector::getClassName;
   using CorrespondenceRejector::input_correspondences_;
   using CorrespondenceRejector::rejection_name_;
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 2f81614c9c5..3c0f34ff66e 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 PCL_EXPORTS SampleConsensusModelPlane : public SampleConsensusModel<PointT>
+  class SampleConsensusModelPlane : public SampleConsensusModel<PointT>
   {
     public:
       using SampleConsensusModel<PointT>::model_name_;
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index 7c5f7dd52b3..8c9fa596ded 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -167,9 +167,12 @@ set(impl_incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
-
 target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${ON_NURBS_LIBRARIES})
 
+if(PCL_LIB_TYPE STREQUAL "SHARED")
+  target_compile_definitions(${LIB_NAME} PRIVATE "OPENNURBS_EXPORTS")
+endif()
+
 if(VTK_FOUND)
   if(${VTK_VERSION} VERSION_GREATER_EQUAL 9.0)
     target_link_libraries("${LIB_NAME}"
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_defines.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_defines.h
index 8da7643e7c7..3579b225c15 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_defines.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_defines.h
@@ -23,8 +23,6 @@
 #if !defined(OPENNURBS_DEFINES_INC_)
 #define OPENNURBS_DEFINES_INC_
 
-#include <pcl/pcl_exports.h>
-
 #if defined (cplusplus) || defined(_cplusplus) || defined(__cplusplus) || defined(ON_CPLUSPLUS)
 // C++ extern "C" declaration for C linkage
 
@@ -63,63 +61,51 @@
 //
 */
 
-#if defined(OPENNURBS_EXPORTS)
-// OPENNURBS_EXPORTS is Microsoft's prefered defined for building an opennurbs DLL.
-#if !defined(ON_DLL_EXPORTS)
-#define ON_DLL_EXPORTS
-#endif
-#if !defined(ON_COMPILING_OPENNURBS)
-#define ON_COMPILING_OPENNURBS
-#endif
-#endif
-
-#if defined(OPENNURBS_IMPORTS)
-// OPENNURBS_EXPORTS is Microsoft's prefered defined for linking with an opennurbs DLL.
-#if !defined(ON_DLL_IMPORTS)
-#define ON_DLL_IMPORTS
-#endif
-#endif
-
-#if defined(ON_DLL_EXPORTS) && defined(ON_DLL_IMPORTS)
-#error At most one of ON_DLL_EXPORTS and ON_DLL_IMPORTS can be defined.
-#endif
+#ifdef PCL_STATIC_DEFINE
 
-/* export/import */
-#if defined(ON_DLL_EXPORTS)
+/* compiling or using OpenNurbs as a static library */
+#define ON_CLASS
+#define ON_DECL
+#define ON_EXTERN_DECL
 
-#if !defined(ON_COMPILING_OPENNURBS)
-#error When compiling an OpenNURBS DLL, ON_DLL_EXPORTS must be defined
+#if defined(ON_DLL_TEMPLATE)
+#undef ON_DLL_TEMPLATE
 #endif
 
-/* compiling OpenNurbs as a Windows DLL - export classes, functions, templates, and globals */
+#else
+#if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
+#ifdef OPENNURBS_EXPORTS
+/* compiling OpenNurbs as a Windows DLL - export classes, functions, templates, and
+ * globals */
 #define ON_CLASS __declspec(dllexport)
 #define ON_DECL __declspec(dllexport)
 #define ON_EXTERN_DECL __declspec(dllexport)
 #define ON_DLL_TEMPLATE
-
-#elif defined(ON_DLL_IMPORTS)
-
-#if defined(ON_COMPILING_OPENNURBS)
-#error When compiling an OpenNURBS DLL, ON_DLL_IMPORTS must NOT be defined
-#endif
-
-/* using OpenNurbs as a Windows DLL - import classes, functions, templates, and globals */
+#define ON_DLL_EXPORTS
+#else
+/* using OpenNurbs as a Windows DLL - import classes, functions, templates, and globals
+ */
 #define ON_CLASS __declspec(dllimport)
 #define ON_DECL __declspec(dllimport)
 #define ON_EXTERN_DECL __declspec(dllimport)
 #define ON_DLL_TEMPLATE extern
-
+#define ON_DLL_IMPORTS
+#endif
+#else
+#ifdef PCL_SYMBOL_VISIBILITY_HIDDEN
+#define ON_CLASS __attribute__((visibility("default")))
+#define ON_DECL __attribute__((visibility("default")))
+#define ON_EXTERN_DECL __attribute__((visibility("default")))
+#define ON_DLL_TEMPLATE
+#define ON_DLL_EXPORTS
 #else
-
-/* compiling or using OpenNurbs as a static library */
 #define ON_CLASS
 #define ON_DECL
 #define ON_EXTERN_DECL
-
-#if defined(ON_DLL_TEMPLATE)
-#undef ON_DLL_TEMPLATE
+#define ON_DLL_TEMPLATE
+#define ON_DLL_EXPORTS
+#endif
 #endif
-
 #endif
 
 
@@ -359,7 +345,7 @@ union ON_U
 #if defined(ON_CPLUSPLUS)
 
 // OpenNurbs enums
-class PCL_EXPORTS ON_CLASS ON
+class ON_CLASS ON
 {
 public:
   /*
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_error.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_error.h
index e12d044e9ab..80b2deb782f 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_error.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_error.h
@@ -86,7 +86,7 @@ void    ON_Error( const char*, /* sFileName:   __FILE__ will do fine */
                   ...          /* printf() style ags */
                   );
 
-PCL_EXPORTS ON_DECL
+ON_DECL
 void    ON_ErrorEx( const char*, // sFileName:   __FILE__ will do fine
                   int,           // line number: __LINE__ will do fine
                   const char*,   // sFunctionName: __FUNCTION__ will do fine
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_extensions.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_extensions.h
index aa945fd8fb6..74a92e7d391 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_extensions.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_extensions.h
@@ -18,13 +18,11 @@
 #if !defined(OPENNURBS_EXTENSIONS_INC_)
 #define OPENNURBS_EXTENSIONS_INC_
 
-#include <pcl/pcl_exports.h>
-
 /*
 Description:
   Used to store user data information in an ONX_Model.
 */
-class PCL_EXPORTS ON_CLASS ONX_Model_UserData
+class ON_CLASS ONX_Model_UserData
 {
 public:
 #if defined(ON_DLL_EXPORTS) || defined(ON_DLL_IMPORTS)
@@ -66,7 +64,7 @@ class PCL_EXPORTS ON_CLASS ONX_Model_UserData
 Description:
   Used to store geometry table object definition and attributes in an ONX_Model.
 */
-class PCL_EXPORTS ON_CLASS ONX_Model_Object
+class ON_CLASS ONX_Model_Object
 {
 public:
 #if defined(ON_DLL_EXPORTS) || defined(ON_DLL_IMPORTS)
@@ -108,7 +106,7 @@ class PCL_EXPORTS ON_CLASS ONX_Model_Object
 Description:
   Used to store render light table light definition and attributes in an ONX_Model.
 */
-class PCL_EXPORTS ON_CLASS ONX_Model_RenderLight
+class ON_CLASS ONX_Model_RenderLight
 {
 public:
 #if defined(ON_DLL_EXPORTS) || defined(ON_DLL_IMPORTS)
@@ -174,7 +172,7 @@ ON_DLL_TEMPLATE template class ON_CLASS ON_SimpleArray<ON_HistoryRecord*>;
   read from 3dm archives.  Please study example_read.cpp for
   details.
 */
-class PCL_EXPORTS ON_CLASS ONX_Model
+class ON_CLASS ONX_Model
 {
 public:
 #if defined(ON_DLL_EXPORTS) || defined(ON_DLL_IMPORTS)
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbscurve.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbscurve.h
index e5a1dd04c00..5a5e5cfef14 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbscurve.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbscurve.h
@@ -23,10 +23,8 @@
 #if !defined(OPENNURBS_NURBSCURVE_INC_)
 #define OPENNURBS_NURBSCURVE_INC_
 
-#include <pcl/pcl_exports.h>
-
 class ON_NurbsCurve;
-class PCL_EXPORTS ON_CLASS ON_NurbsCurve : public ON_Curve
+class ON_CLASS ON_NurbsCurve : public ON_Curve
 {
   ON_OBJECT_DECLARE(ON_NurbsCurve);
 
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbssurface.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbssurface.h
index 630fbd2d80d..b2545320c12 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbssurface.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_nurbssurface.h
@@ -23,8 +23,6 @@
 #if !defined(OPENNURBS_NURBSSURFACE_INC_)
 #define OPENNURBS_NURBSSURFACE_INC_
 
-#include <pcl/pcl_exports.h>
-
 class ON_CLASS ON_TensorProduct
 {
   // Pure virtual tensor passed to ON_NurbsSurface::TensorProduct()
@@ -61,7 +59,7 @@ class ON_CLASS ON_TensorProduct
 class ON_Brep;
 class ON_NurbsSurface;
 
-class PCL_EXPORTS ON_CLASS ON_NurbsSurface : public ON_Surface
+class ON_CLASS ON_NurbsSurface : public ON_Surface
 {
   ON_OBJECT_DECLARE(ON_NurbsSurface);
 
@@ -1025,7 +1023,7 @@ class PCL_EXPORTS ON_CLASS ON_NurbsSurface : public ON_Surface
 };
 
 
-class PCL_EXPORTS ON_CLASS ON_NurbsCage : public ON_Geometry
+class ON_CLASS ON_NurbsCage : public ON_Geometry
 {
   ON_OBJECT_DECLARE(ON_NurbsCage);
 
@@ -1733,7 +1731,7 @@ bool ON_GetCageXform(
           );
 
 
-class PCL_EXPORTS ON_CLASS ON_MorphControl : public ON_Geometry
+class ON_CLASS ON_MorphControl : public ON_Geometry
 {
   ON_OBJECT_DECLARE(ON_MorphControl);
 
@@ -1928,7 +1926,7 @@ class PCL_EXPORTS ON_CLASS ON_MorphControl : public ON_Geometry
 };
 
 
-class PCL_EXPORTS ON_CLASS ON_CageMorph : public ON_SpaceMorph
+class ON_CLASS ON_CageMorph : public ON_SpaceMorph
 {
 public:
   ON_CageMorph();
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_point.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_point.h
index ecb0adf64db..2c265d16702 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_point.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_point.h
@@ -22,8 +22,6 @@
 #if !defined(ON_POINT_INC_)
 #define ON_POINT_INC_
 
-#include <pcl/pcl_exports.h>
-
 class ON_BoundingBox;
 class ON_Xform;
 class ON_Line;
@@ -45,7 +43,7 @@ class ON_Interval;
 //
 //   ON_Interval
 //
-class PCL_EXPORTS ON_CLASS ON_Interval
+class ON_CLASS ON_Interval
 {
 public:
 
@@ -263,7 +261,7 @@ class PCL_EXPORTS ON_CLASS ON_Interval
 //
 //   ON_2dPoint
 //
-class PCL_EXPORTS ON_CLASS ON_2dPoint
+class ON_CLASS ON_2dPoint
 {
 public:
   double x, y;
@@ -415,7 +413,7 @@ ON_2dPoint operator*(double, const ON_2dPoint&);
 //
 //   ON_3dPoint
 //
-class PCL_EXPORTS ON_CLASS ON_3dPoint
+class ON_CLASS ON_3dPoint
 {
 public:
   double x, y, z;
@@ -569,7 +567,7 @@ ON_3dPoint operator*(double, const ON_3dPoint&);
 //
 //   ON_4dPoint (homogeneous coordinates)
 //
-class PCL_EXPORTS ON_CLASS ON_4dPoint
+class ON_CLASS ON_4dPoint
 {
 public:
   double x, y, z, w;
@@ -671,7 +669,7 @@ ON_4dPoint operator*(double, const ON_4dPoint&);
 //
 //   ON_2dVector
 //
-class PCL_EXPORTS ON_CLASS ON_2dVector
+class ON_CLASS ON_2dVector
 {
 public:
   double x, y;
@@ -949,7 +947,7 @@ ON_IsRightHandFrame( // true if X, Y are orthonormal and right handed
 //
 //   ON_3dVector
 //
-class PCL_EXPORTS ON_CLASS ON_3dVector
+class ON_CLASS ON_3dVector
 {
 public:
   double x, y, z;
@@ -1174,7 +1172,7 @@ class PCL_EXPORTS ON_CLASS ON_3dVector
         );
 };
 
-class PCL_EXPORTS ON_CLASS ON_3dRay
+class ON_CLASS ON_3dRay
 {
 public:
   ON_3dRay();
@@ -1189,7 +1187,7 @@ class PCL_EXPORTS ON_CLASS ON_3dRay
   Typically the vector portion is a unit vector and
   m_d = -(x*P.x + y*P.y + z*P.z) for a point P on the plane.
 */
-class PCL_EXPORTS ON_CLASS ON_PlaneEquation : public ON_3dVector
+class ON_CLASS ON_PlaneEquation : public ON_3dVector
 {
 public:
   // C++ defaults for construction, destruction, copys, and operator=
@@ -1576,7 +1574,7 @@ extern ON_EXTERN_DECL const ON_3dVector ON_zaxis; // (0.0, 0.0, 1.0)
 //
 //   ON_SurfaceCurvature
 //
-class PCL_EXPORTS ON_CLASS ON_SurfaceCurvature
+class ON_CLASS ON_SurfaceCurvature
 {
 public:
   double k1, k2; // principal curvatures
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_string.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_string.h
index dc537826fec..f74d565728c 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_string.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_string.h
@@ -17,8 +17,6 @@
 #if !defined(ON_STRING_INC_)
 #define ON_STRING_INC_
 
-#include <pcl/pcl_exports.h>
-
 /*
 Description:
   Sort an index array.
@@ -697,7 +695,7 @@ class ON_CLASS ON_String
 // ON_wString
 //
 
-class PCL_EXPORTS ON_CLASS ON_wString
+class ON_CLASS ON_wString
 {
 public:
 
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_surface.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_surface.h
index 5278a230073..87d1ad5d69c 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_surface.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_surface.h
@@ -23,8 +23,6 @@
 #if !defined(OPENNURBS_SURFACE_INC_)
 #define OPENNURBS_SURFACE_INC_
 
-#include <pcl/pcl_exports.h>
-
 class ON_Curve;
 class ON_NurbsSurface;
 class ON_SurfaceTree;
@@ -41,7 +39,7 @@ class ON_PolyCurve;
 class ON_CurveProxy;
 class ON_Surface;
 
-class PCL_EXPORTS ON_CLASS ON_Surface : public ON_Geometry
+class ON_CLASS ON_Surface : public ON_Geometry
 {
   ON_OBJECT_DECLARE(ON_Surface);
 
diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_textlog.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_textlog.h
index aa2cb9e8193..ebd83da4dea 100644
--- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_textlog.h
+++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_textlog.h
@@ -17,9 +17,7 @@
 #if !defined(ON_TEXTLOG_INC_)
 #define ON_TEXTLOG_INC_
 
-#include <pcl/pcl_exports.h>
-
-class PCL_EXPORTS ON_CLASS ON_TextLog
+class ON_CLASS ON_TextLog
 {
 public:
   /*
diff --git a/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h b/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h
index 4960da85905..378dd32248b 100644
--- a/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h
+++ b/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h
@@ -47,7 +47,7 @@ namespace pcl
      *  Based on paper: TODO
      * \author Thomas Mörwald
      * \ingroup surface     */
-    class FittingSurfaceTDM : public FittingSurface
+    class PCL_EXPORTS FittingSurfaceTDM : public FittingSurface
     {
     public:
       using FittingSurface::assemble;