diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b015bff26f..0232a451da8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -144,7 +144,7 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 endif()
 
 if(CMAKE_COMPILER_IS_MSVC)
-  add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -DPCL_ONLY_CORE_POINT_TYPES ${SSE_DEFINITIONS}")
+  add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX ${SSE_DEFINITIONS}")
   
   if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
     string(APPEND CMAKE_CXX_FLAGS " /fp:precise ${SSE_FLAGS} ${AVX_FLAGS}")
diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
index 2da076c23c5..ef83650813f 100644
--- a/cmake/pcl_targets.cmake
+++ b/cmake/pcl_targets.cmake
@@ -173,6 +173,7 @@ macro(PCL_ADD_INCLUDES _component _subdir)
           COMPONENT pcl_${_component})
 endmacro()
 
+
 ###############################################################################
 # Add a library target.
 # _name The library name.
@@ -192,33 +193,41 @@ function(PCL_ADD_LIBRARY _name)
     message(FATAL_ERROR "PCL_ADD_LIBRARY requires parameter COMPONENT.")
   endif()
 
-  add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
-  PCL_ADD_VERSION_INFO(${_name})
-  target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})
+  if(NOT ARGS_SOURCES)
+    add_library(${_name} INTERFACE)
+  else()
+    add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
 
-  target_link_libraries(${_name} Threads::Threads)
-  if(TARGET OpenMP::OpenMP_CXX)
-    target_link_libraries(${_name} OpenMP::OpenMP_CXX)
-  endif()
+    PCL_ADD_VERSION_INFO(${_name})
 
-  if((UNIX AND NOT ANDROID) OR MINGW)
-    target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
-  endif()
+    target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})
 
-  if(MINGW)
-    target_link_libraries(${_name} gomp)
-  endif()
+    target_link_libraries(${_name} Threads::Threads)
 
-  if(MSVC)
-    target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
-  endif()
+    if(TARGET OpenMP::OpenMP_CXX)
+        target_link_libraries(${_name} OpenMP::OpenMP_CXX)
+    endif()
 
-  set_target_properties(${_name} PROPERTIES
+    if((UNIX AND NOT ANDROID) OR MINGW)
+        target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
+    endif()
+
+    if(MINGW)
+        target_link_libraries(${_name} gomp)
+    endif()
+
+    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")
-  set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
-
+    
+    set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
+  endif()
+  
   install(TARGETS ${_name}
           RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
index b5f902aece8..6bd6ff3bb85 100644
--- a/features/CMakeLists.txt
+++ b/features/CMakeLists.txt
@@ -14,23 +14,20 @@ endif()
 
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 
-set(incs
+set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+set(incs_lib1
   "include/pcl/${SUBSYS_NAME}/boost.h"
   "include/pcl/${SUBSYS_NAME}/eigen.h"
   "include/pcl/${SUBSYS_NAME}/board.h"
   "include/pcl/${SUBSYS_NAME}/flare.h"
   "include/pcl/${SUBSYS_NAME}/brisk_2d.h"
   "include/pcl/${SUBSYS_NAME}/cppf.h"
-  "include/pcl/${SUBSYS_NAME}/cvfh.h"
-  "include/pcl/${SUBSYS_NAME}/our_cvfh.h"
   "include/pcl/${SUBSYS_NAME}/crh.h"
   "include/pcl/${SUBSYS_NAME}/don.h"
   "include/pcl/${SUBSYS_NAME}/feature.h"
-  "include/pcl/${SUBSYS_NAME}/fpfh.h"
-  "include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
   "include/pcl/${SUBSYS_NAME}/from_meshes.h"
   "include/pcl/${SUBSYS_NAME}/gasd.h"
-  "include/pcl/${SUBSYS_NAME}/gfpfh.h"
   "include/pcl/${SUBSYS_NAME}/integral_image2D.h"
   "include/pcl/${SUBSYS_NAME}/integral_image_normal.h"
   "include/pcl/${SUBSYS_NAME}/intensity_gradient.h"
@@ -44,45 +41,18 @@ set(incs
   "include/pcl/${SUBSYS_NAME}/normal_3d.h"
   "include/pcl/${SUBSYS_NAME}/normal_3d_omp.h"
   "include/pcl/${SUBSYS_NAME}/normal_based_signature.h"
-  "include/pcl/${SUBSYS_NAME}/organized_edge_detection.h"
-  "include/pcl/${SUBSYS_NAME}/pfh.h"
-  "include/pcl/${SUBSYS_NAME}/pfh_tools.h"
-  "include/pcl/${SUBSYS_NAME}/pfhrgb.h"
-  "include/pcl/${SUBSYS_NAME}/ppf.h"
-  "include/pcl/${SUBSYS_NAME}/ppfrgb.h"
-  "include/pcl/${SUBSYS_NAME}/shot.h"
-  "include/pcl/${SUBSYS_NAME}/shot_lrf.h"
-  "include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h"
-  "include/pcl/${SUBSYS_NAME}/shot_omp.h"
-  "include/pcl/${SUBSYS_NAME}/spin_image.h"
-  "include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
-  "include/pcl/${SUBSYS_NAME}/rift.h"
-  "include/pcl/${SUBSYS_NAME}/rops_estimation.h"
-  "include/pcl/${SUBSYS_NAME}/rsd.h"
-  "include/pcl/${SUBSYS_NAME}/grsd.h"
-  "include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
-  "include/pcl/${SUBSYS_NAME}/vfh.h"
-  "include/pcl/${SUBSYS_NAME}/esf.h"
-  "include/pcl/${SUBSYS_NAME}/3dsc.h"
-  "include/pcl/${SUBSYS_NAME}/usc.h"
   "include/pcl/${SUBSYS_NAME}/boundary.h"
-  "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
 )
 
-set(impl_incs
+set(impl_incs_lib1
   "include/pcl/${SUBSYS_NAME}/impl/board.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/flare.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/brisk_2d.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/cppf.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/crh.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/don.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/feature.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/gasd.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/integral_image2D.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/integral_image_normal.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/intensity_gradient.hpp"
@@ -95,44 +65,19 @@ set(impl_incs
   "include/pcl/${SUBSYS_NAME}/impl/normal_3d.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/normal_3d_omp.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/normal_based_signature.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/organized_edge_detection.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/pfh.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/ppf.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/shot.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/grsd.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/boundary.hpp"
-  "include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
 )
 
-set(srcs
+set(srcs_lib1
   src/board.cpp
   src/flare.cpp
   src/brisk_2d.cpp
   src/boundary.cpp
   src/cppf.cpp
-  src/cvfh.cpp
-  src/our_cvfh.cpp
   src/crh.cpp
   src/don.cpp
-  src/fpfh.cpp
   src/from_meshes.cpp
   src/gasd.cpp
-  src/gfpfh.cpp
   src/integral_image_normal.cpp
   src/intensity_gradient.cpp
   src/intensity_spin.cpp
@@ -143,25 +88,97 @@ set(srcs
   src/narf.cpp
   src/normal_3d.cpp
   src/normal_based_signature.cpp
+)
+
+PCL_ADD_LIBRARY(${LIB_NAME}_lib1 COMPONENT ${SUBSYS_NAME} SOURCES ${srcs_lib1} ${incs_lib1} ${impl_incs_lib1})
+target_link_libraries(${LIB_NAME}_lib1 pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)
+
+set(incs_lib2
+  "include/pcl/${SUBSYS_NAME}/3dsc.h"
+  "include/pcl/${SUBSYS_NAME}/cvfh.h"
+  "include/pcl/${SUBSYS_NAME}/esf.h"
+  "include/pcl/${SUBSYS_NAME}/fpfh.h"
+  "include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
+  "include/pcl/${SUBSYS_NAME}/gfpfh.h"
+  "include/pcl/${SUBSYS_NAME}/grsd.h"
+  "include/pcl/${SUBSYS_NAME}/organized_edge_detection.h"
+  "include/pcl/${SUBSYS_NAME}/our_cvfh.h"
+  "include/pcl/${SUBSYS_NAME}/pfh.h"
+  "include/pcl/${SUBSYS_NAME}/pfh_tools.h"
+  "include/pcl/${SUBSYS_NAME}/pfhrgb.h"
+  "include/pcl/${SUBSYS_NAME}/ppf.h"
+  "include/pcl/${SUBSYS_NAME}/ppfrgb.h"
+  "include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
+  "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
+  "include/pcl/${SUBSYS_NAME}/rift.h"
+  "include/pcl/${SUBSYS_NAME}/rops_estimation.h"
+  "include/pcl/${SUBSYS_NAME}/rsd.h"
+  "include/pcl/${SUBSYS_NAME}/shot.h"
+  "include/pcl/${SUBSYS_NAME}/shot_lrf.h"
+  "include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h"
+  "include/pcl/${SUBSYS_NAME}/shot_omp.h"
+  "include/pcl/${SUBSYS_NAME}/spin_image.h"
+  "include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
+  "include/pcl/${SUBSYS_NAME}/vfh.h"
+  "include/pcl/${SUBSYS_NAME}/usc.h"
+)
+
+set(impl_incs_lib2
+  "include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/grsd.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/organized_edge_detection.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/pfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/ppf.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/shot.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
+)
+
+set(srcs_lib2
+  src/3dsc.cpp
+  src/cvfh.cpp #depends on vfh and normalestimation(lib1)
+  src/esf.cpp
+  src/fpfh.cpp
+  src/gfpfh.cpp
+  src/grsd.cpp
   src/organized_edge_detection.cpp
+  src/our_cvfh.cpp
   src/pfh.cpp
   src/ppf.cpp
-  src/shot.cpp
-  src/shot_lrf.cpp
-  src/spin_image.cpp
   src/principal_curvatures.cpp
+  src/range_image_border_extractor.cpp
   src/rift.cpp
   src/rops_estimation.cpp
   src/rsd.cpp
-  src/grsd.cpp
+  src/shot.cpp
+  src/shot_lrf.cpp
+  src/spin_image.cpp
   src/statistical_multiscale_interest_region_extraction.cpp
-  src/vfh.cpp
-  src/esf.cpp
-  src/3dsc.cpp
+  src/vfh.cpp # depends on pfh
   src/usc.cpp
-  src/range_image_border_extractor.cpp
 )
 
+PCL_ADD_LIBRARY(${LIB_NAME}_lib2 COMPONENT ${SUBSYS_NAME} SOURCES ${srcs_lib2} ${incs_lib2} ${impl_incs_lib2})
+target_link_libraries(${LIB_NAME}_lib2 pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters ${LIB_NAME}_lib1)
+
 if(MSVC)
   # Workaround to avoid hitting the MSVC 4GB linker memory limit when building pcl_features.
   # Disable whole program optimization (/GL) and link-time code generation (/LTCG).
@@ -169,10 +186,11 @@ if(MSVC)
   string(REPLACE "/LTCG" "" CMAKE_SHARED_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE})
 endif()
 
-set(LIB_NAME "pcl_${SUBSYS_NAME}")
-PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
+target_link_libraries(${LIB_NAME} INTERFACE ${LIB_NAME}_lib1 ${LIB_NAME}_lib2)
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+
 # Install headers
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})