diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt
index f2656b2f475..aa9d3f5b3aa 100644
--- a/2d/CMakeLists.txt
+++ b/2d/CMakeLists.txt
@@ -31,6 +31,7 @@ set(impl_incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
+target_link_libraries(${LIB_NAME} INTERFACE pcl_filters)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY)
 
 #Install include files
diff --git a/apps/3d_rec_framework/CMakeLists.txt b/apps/3d_rec_framework/CMakeLists.txt
index 433b782ba29..a75d17047a1 100644
--- a/apps/3d_rec_framework/CMakeLists.txt
+++ b/apps/3d_rec_framework/CMakeLists.txt
@@ -89,7 +89,7 @@ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/
 
 set(LIB_NAME "pcl_${SUBSUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSUBSYS_NAME} SOURCES ${srcs} ${impl_incs_pipeline} ${incs_utils} ${incs_fw} ${incs_fw_global} ${incs_fw_local} ${incc_tools_framework} ${incs_pipelines} ${incs_pc_source})
-target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration)
+target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_keypoints pcl_recognition pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration)
 
 if(WITH_OPENNI)
   target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 269cb62c30d..b6146b7ac5a 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -47,7 +47,7 @@ PCL_ADD_EXECUTABLE(pcl_test_search_speed COMPONENT ${SUBSYS_NAME} SOURCES src/te
 target_link_libraries(pcl_test_search_speed pcl_common pcl_io pcl_search pcl_kdtree pcl_visualization)
 
 PCL_ADD_EXECUTABLE(pcl_nn_classification_example COMPONENT ${SUBSYS_NAME} SOURCES src/nn_classification_example.cpp)
-target_link_libraries(pcl_nn_classification_example pcl_common pcl_io pcl_features pcl_kdtree)
+target_link_libraries(pcl_nn_classification_example pcl_apps pcl_common pcl_io pcl_features pcl_kdtree)
 target_include_directories(pcl_nn_classification_example PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 PCL_ADD_EXECUTABLE(pcl_pyramid_surface_matching COMPONENT ${SUBSYS_NAME} SOURCES src/pyramid_surface_matching.cpp)
@@ -124,7 +124,7 @@ if(VTK_FOUND)
       src/pcd_video_player/pcd_video_player.ui
       BUNDLE)
 
-    target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
+    target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_registration pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
     target_include_directories(pcl_pcd_video_player PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
   endif()
 
@@ -228,23 +228,23 @@ if(VTK_FOUND)
     endif() # QHULL_FOUND
 
     PCL_ADD_EXECUTABLE(pcl_ni_agast COMPONENT ${SUBSYS_NAME} SOURCES src/ni_agast.cpp BUNDLE)
-    target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
+    target_link_libraries(pcl_ni_agast pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
     target_include_directories(pcl_ni_agast PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_brisk COMPONENT ${SUBSYS_NAME} SOURCES src/ni_brisk.cpp BUNDLE)
-    target_link_libraries(pcl_ni_brisk pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
+    target_link_libraries(pcl_ni_brisk pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
     target_include_directories(pcl_ni_brisk PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_susan COMPONENT ${SUBSYS_NAME} SOURCES src/ni_susan.cpp BUNDLE)
-    target_link_libraries(pcl_ni_susan pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
+    target_link_libraries(pcl_ni_susan pcl_apps pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
     target_include_directories(pcl_ni_susan PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_trajkovic COMPONENT ${SUBSYS_NAME} SOURCES src/ni_trajkovic.cpp BUNDLE)
-    target_link_libraries(pcl_ni_trajkovic pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
+    target_link_libraries(pcl_ni_trajkovic pcl_apps pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
     target_include_directories(pcl_ni_trajkovic PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_openni_klt COMPONENT ${SUBSYS_NAME} SOURCES src/openni_klt.cpp BUNDLE)
-    target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_visualization pcl_tracking)
+    target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_keypoints pcl_visualization pcl_tracking)
   endif() # WITH_OPENNI
 endif() # VTK_FOUND
 
diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
index 083a0fb36e1..47668e169a4 100644
--- a/apps/cloud_composer/CMakeLists.txt
+++ b/apps/cloud_composer/CMakeLists.txt
@@ -5,7 +5,7 @@
 
 set(SUBSUBSYS_NAME cloud_composer)
 set(SUBSUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds")
-set(SUBSUBSYS_DEPS common io visualization filters apps)
+set(SUBSUBSYS_DEPS common io visualization features filters apps)
 set(SUBSUBSYS_EXT_DEPS vtk ${QTX})
 set(REASON "")
 set(DEFAULT OFF)
@@ -71,7 +71,7 @@ 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_filters pcl_search pcl_visualization ${QTX}::Widgets)
+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})
 
diff --git a/apps/in_hand_scanner/CMakeLists.txt b/apps/in_hand_scanner/CMakeLists.txt
index 1059de34cfc..b1d583d5f26 100644
--- a/apps/in_hand_scanner/CMakeLists.txt
+++ b/apps/in_hand_scanner/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(SUBSUBSYS_NAME in_hand_scanner)
 set(SUBSUBSYS_DESC "In-hand scanner for small objects")
 set(SUBSUBSYS_DEPS     common     features     io     kdtree apps)
-set(SUBSUBSYS_LIBS pcl_common pcl_features pcl_io pcl_kdtree)
+set(SUBSUBSYS_LIBS pcl_common pcl_geometry pcl_features pcl_io pcl_kdtree)
 set(SUBSUBSYS_EXT_DEPS ${QTX} OpenGL OpenGL_GLU openni)
 set(REASON "")
 set(DEFAULT OFF)
diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt
index ced6c8adaab..f7d2bae150d 100644
--- a/apps/modeler/CMakeLists.txt
+++ b/apps/modeler/CMakeLists.txt
@@ -112,7 +112,7 @@ PCL_ADD_EXECUTABLE(
     ${incs}
     ${impl_incs})
 
-target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QTX}::Widgets)
+target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_registration pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QTX}::Widgets)
 target_include_directories(${EXE_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 # Install include files
diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
index c8cdbcb1c76..a13dde419d9 100644
--- a/cmake/pcl_targets.cmake
+++ b/cmake/pcl_targets.cmake
@@ -118,9 +118,6 @@ macro(PCL_SUBSYS_DEPEND _var)
         if(NOT _status)
           set(${_var} FALSE)
           PCL_SET_SUBSYS_STATUS(${_name} FALSE "Requires ${_dep}.")
-        else()
-          PCL_GET_SUBSYS_INCLUDE_DIR(_include_dir ${_dep})
-          include_directories(${PROJECT_SOURCE_DIR}/${_include_dir}/include)
         endif()
       endforeach()
     endif()
@@ -134,12 +131,6 @@ macro(PCL_SUBSYS_DEPEND _var)
         endif()
       endforeach()
     endif()
-    if(ARGS_OPT_DEPS)
-      foreach(_dep ${ARGS_OPT_DEPS})
-        PCL_GET_SUBSYS_INCLUDE_DIR(_include_dir ${_dep})
-        include_directories(${PROJECT_SOURCE_DIR}/${_include_dir}/include)
-      endforeach()
-    endif()
   endif()
 endmacro()
 
@@ -266,30 +257,39 @@ function(PCL_CUDA_ADD_LIBRARY _name)
   endif()
 
   REMOVE_VTK_DEFINITIONS()
+  if(NOT ARGS_SOURCES)
+    add_library(${_name} INTERFACE)
+    
+    target_include_directories(${_name} INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:${INCLUDE_INSTALL_ROOT}> 
+    )
 
-  add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
-
-  PCL_ADD_VERSION_INFO(${_name})
-
-  target_compile_options(${_name} PRIVATE $<$<COMPILE_LANGUAGE:CUDA>: ${GEN_CODE} --expt-relaxed-constexpr>)
-
-  target_include_directories(${_name} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_ROOT}> 
-  )
-
-  target_include_directories(${_name} PRIVATE ${CUDA_TOOLKIT_INCLUDE})
-
-  if(MSVC)
-    target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
+  else()
+    add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
+  
+    PCL_ADD_VERSION_INFO(${_name})
+  
+    target_compile_options(${_name} PRIVATE $<$<COMPILE_LANGUAGE:CUDA>: ${GEN_CODE} --expt-relaxed-constexpr>)
+  
+    target_include_directories(${_name} PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:${INCLUDE_INSTALL_ROOT}> 
+    )
+  
+    target_include_directories(${_name} PRIVATE ${CUDA_TOOLKIT_INCLUDE})
+  
+    if(MSVC)
+      target_link_libraries(${_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")
   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")
-
   install(TARGETS ${_name}
           RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
diff --git a/cuda/common/CMakeLists.txt b/cuda/common/CMakeLists.txt
index 186f5b7212f..2524242b5da 100644
--- a/cuda/common/CMakeLists.txt
+++ b/cuda/common/CMakeLists.txt
@@ -28,6 +28,7 @@ set(common_incs
     )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
+PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
 set(EXT_DEPS CUDA)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC "${SUBSYS_DESC}"
     PCL_DEPS "${SUBSYS_DEPS}" EXT_DEPS "" HEADER_ONLY)
diff --git a/cuda/features/CMakeLists.txt b/cuda/features/CMakeLists.txt
index 018a3058024..cc1bdfe283b 100644
--- a/cuda/features/CMakeLists.txt
+++ b/cuda/features/CMakeLists.txt
@@ -24,7 +24,7 @@ set(incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs})
-target_link_libraries(${LIB_NAME} pcl_common)
+target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common)
 
 set(EXT_DEPS "")
 #set(EXT_DEPS CUDA)
diff --git a/cuda/io/CMakeLists.txt b/cuda/io/CMakeLists.txt
index 3c25360ac2c..da893951105 100644
--- a/cuda/io/CMakeLists.txt
+++ b/cuda/io/CMakeLists.txt
@@ -35,7 +35,7 @@ set(incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs})
-target_link_libraries(${LIB_NAME} pcl_common)
+target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common)
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${SUBSYS_EXT_DEPS})
 
diff --git a/cuda/segmentation/CMakeLists.txt b/cuda/segmentation/CMakeLists.txt
index 5354513e040..d32560f8444 100644
--- a/cuda/segmentation/CMakeLists.txt
+++ b/cuda/segmentation/CMakeLists.txt
@@ -25,7 +25,7 @@ set(srcs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs})
-target_link_libraries(${LIB_NAME} pcl_common)
+target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common)
 
 set(EXT_DEPS "")
 #set(EXT_DEPS CUDA)
diff --git a/examples/geometry/CMakeLists.txt b/examples/geometry/CMakeLists.txt
index 271296c6819..4f3696605a8 100644
--- a/examples/geometry/CMakeLists.txt
+++ b/examples/geometry/CMakeLists.txt
@@ -3,4 +3,4 @@ if(NOT BUILD_geometry)
 endif()
 
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS geometry)
-PCL_ADD_EXAMPLE(pcl_example_half_edge_mesh FILES example_half_edge_mesh.cpp LINK_WITH pcl_common)
+PCL_ADD_EXAMPLE(pcl_example_half_edge_mesh FILES example_half_edge_mesh.cpp LINK_WITH pcl_common pcl_geometry)
diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
index a70d3a520b7..f0a565ebccf 100644
--- a/features/CMakeLists.txt
+++ b/features/CMakeLists.txt
@@ -166,7 +166,7 @@ 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)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_2d pcl_search pcl_kdtree pcl_octree pcl_filters)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install headers
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 38bf2b89984..dc24288e769 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -336,7 +336,7 @@ add_definitions(${VTK_DEFINES})
 
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
 
-target_link_libraries("${LIB_NAME}" Boost::boost Boost::iostreams pcl_common pcl_io_ply)
+target_link_libraries("${LIB_NAME}" Boost::boost Boost::iostreams pcl_common pcl_io_ply pcl_octree)
 if(TARGET Boost::filesystem)
   target_link_libraries("${LIB_NAME}" Boost::filesystem)
 endif()
diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt
index ff919f7d422..e7626b3a214 100644
--- a/sample_consensus/CMakeLists.txt
+++ b/sample_consensus/CMakeLists.txt
@@ -92,7 +92,7 @@ set(impl_incs
 
 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)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_search)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files
diff --git a/sample_consensus/src/sac_model_torus.cpp b/sample_consensus/src/sac_model_torus.cpp
index 11e0b1d8f3c..f0d71b9ee9e 100644
--- a/sample_consensus/src/sac_model_torus.cpp
+++ b/sample_consensus/src/sac_model_torus.cpp
@@ -42,4 +42,3 @@
 #include <pcl/point_types.h>
 PCL_INSTANTIATE_PRODUCT(SampleConsensusModelTorus, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))((pcl::Normal)))
 #endif    // PCL_NO_PRECOMPILE
-
diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt
index bd103dbc3c2..901a63fcc38 100644
--- a/segmentation/CMakeLists.txt
+++ b/segmentation/CMakeLists.txt
@@ -98,7 +98,7 @@ set(impl_incs
 
 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_search pcl_sample_consensus pcl_filters pcl_ml pcl_features)
+target_link_libraries("${LIB_NAME}" pcl_geometry pcl_search pcl_sample_consensus pcl_filters pcl_ml pcl_features)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files
diff --git a/stereo/CMakeLists.txt b/stereo/CMakeLists.txt
index 566a06f5248..2188c88d838 100644
--- a/stereo/CMakeLists.txt
+++ b/stereo/CMakeLists.txt
@@ -33,7 +33,7 @@ set(srcs
 
 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)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_io)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
diff --git a/test/2d/CMakeLists.txt b/test/2d/CMakeLists.txt
index e140984e633..82220e0a150 100644
--- a/test/2d/CMakeLists.txt
+++ b/test/2d/CMakeLists.txt
@@ -10,7 +10,7 @@ if(NOT build)
 endif()
 
 PCL_ADD_TEST(test_2d test_2d FILES test_2d.cpp
-             LINK_WITH pcl_io pcl_gtest
+             LINK_WITH pcl_2d pcl_io pcl_gtest
              ARGUMENTS "${PCL_SOURCE_DIR}/test/2d/lena.pcd"
                        "${PCL_SOURCE_DIR}/test/2d/gauss_smooth.pcd"
                        "${PCL_SOURCE_DIR}/test/2d/erosion.pcd"
@@ -23,7 +23,7 @@ PCL_ADD_TEST(test_2d test_2d FILES test_2d.cpp
                        "${PCL_SOURCE_DIR}/test/2d/closing_binary.pcd"
                        "${PCL_SOURCE_DIR}/test/2d/canny.pcd")
 
-PCL_ADD_TEST(test_2d_keypoint_instantiation_with_precompile test_2d_keypoint_instantiation_with_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_gtest pcl_common)
+PCL_ADD_TEST(test_2d_keypoint_instantiation_with_precompile test_2d_keypoint_instantiation_with_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_2d pcl_gtest pcl_common)
 
-PCL_ADD_TEST(test_2d_keypoint_instantiation_without_precompile test_2d_keypoint_instantiation_without_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_gtest pcl_common)
+PCL_ADD_TEST(test_2d_keypoint_instantiation_without_precompile test_2d_keypoint_instantiation_without_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_2d pcl_gtest pcl_common)
 target_compile_definitions(test_2d_keypoint_instantiation_without_precompile PUBLIC PCL_NO_PRECOMPILE)
diff --git a/test/io/CMakeLists.txt b/test/io/CMakeLists.txt
index 3b0f90546ea..9cbef820328 100644
--- a/test/io/CMakeLists.txt
+++ b/test/io/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(SUBSYS_NAME tests_io)
 set(SUBSYS_DESC "Point cloud library io module unit tests")
-PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS io)
+PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS common io octree)
 set(OPT_DEPS visualization)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
@@ -53,7 +53,7 @@ PCL_ADD_TEST(point_cloud_image_extractors test_point_cloud_image_extractors
 
 PCL_ADD_TEST(buffers test_buffers
              FILES test_buffers.cpp
-             LINK_WITH pcl_gtest pcl_common)
+             LINK_WITH pcl_gtest pcl_common pcl_io)
 
 PCL_ADD_TEST(io_octree_compression test_octree_compression
         FILES test_octree_compression.cpp
diff --git a/test/octree/CMakeLists.txt b/test/octree/CMakeLists.txt
index b6de3599c3d..43fcb734ced 100644
--- a/test/octree/CMakeLists.txt
+++ b/test/octree/CMakeLists.txt
@@ -11,7 +11,7 @@ endif()
 
 PCL_ADD_TEST(a_octree_test test_octree
               FILES test_octree.cpp
-              LINK_WITH pcl_gtest pcl_common)
+              LINK_WITH pcl_gtest pcl_common pcl_octree)
 PCL_ADD_TEST(a_octree_iterator_test test_octree_iterator
               FILES test_octree_iterator.cpp
               LINK_WITH pcl_gtest pcl_common pcl_octree)
diff --git a/test/recognition/CMakeLists.txt b/test/recognition/CMakeLists.txt
index 09a4953da90..0377cfda7f2 100644
--- a/test/recognition/CMakeLists.txt
+++ b/test/recognition/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 
 PCL_ADD_TEST(a_recognition_ism_test test_recognition_ism
              FILES test_recognition_ism.cpp
-             LINK_WITH pcl_gtest pcl_io pcl_features
+             LINK_WITH pcl_gtest pcl_io pcl_features pcl_recognition
              ARGUMENTS "${PCL_SOURCE_DIR}/test/ism_train.pcd" "${PCL_SOURCE_DIR}/test/ism_test.pcd")
 
 if(BUILD_keypoints)
diff --git a/test/registration/CMakeLists.txt b/test/registration/CMakeLists.txt
index 2be909db052..7b730acf5fa 100644
--- a/test/registration/CMakeLists.txt
+++ b/test/registration/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(SUBSYS_NAME tests_registration)
 set(SUBSYS_DESC "Point cloud library registration module unit tests")
-PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS registration)
+PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS io registration)
 set(OPT_DEPS io) # module does not depend on these
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
@@ -16,7 +16,7 @@ PCL_ADD_TEST(registration_warp_api test_warps
 
 PCL_ADD_TEST(correspondence_estimation test_correspondence_estimation
              FILES test_correspondence_estimation.cpp
-             LINK_WITH pcl_gtest pcl_registration pcl_features)
+             LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features)
 
 if(BUILD_io)
   PCL_ADD_TEST(a_registration_test test_registration
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index dff68b47bb7..6e6ce0c7dda 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -138,7 +138,7 @@ if(APPLE)
   target_link_libraries("${LIB_NAME}" "-framework Cocoa")
 endif()
 
-target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${OPENGL_LIBRARIES})
+target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree pcl_geometry pcl_search ${OPENGL_LIBRARIES})
 
 if(${VTK_VERSION} VERSION_GREATER_EQUAL 9.0)
   #Some libs are referenced through depending on IO