diff --git a/sample_consensus/include/pcl/sample_consensus/model_types.h b/sample_consensus/include/pcl/sample_consensus/model_types.h
index f07e88f9bd1..4584aa988cf 100644
--- a/sample_consensus/include/pcl/sample_consensus/model_types.h
+++ b/sample_consensus/include/pcl/sample_consensus/model_types.h
@@ -41,8 +41,6 @@
 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
 
-#include <map>
-
 namespace pcl
 {
   enum SacModel
@@ -68,35 +66,4 @@ namespace pcl
   };
 }
 
-typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
-// Warning: sample_size_pairs is deprecated and is kept only to prevent breaking existing user code.
-// Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class.
-const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_LINE, 2),
-                                                    SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
-                                                    SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
-                                                    SampleSizeModel (pcl::SACMODEL_CONE, 3),
-                                                    //SampleSizeModel (pcl::SACMODEL_TORUS, 2),
-                                                    SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2),
-                                                    SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
-                                                    //SampleSizeModel (pcl::PARALLEL_LINES, 2),
-                                                    SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4),
-                                                    SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_REGISTRATION_2D, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
-                                                    SampleSizeModel (pcl::SACMODEL_STICK, 2)};
-
-namespace pcl
-{
-  const static std::map<pcl::SacModel, unsigned int>
-  PCL_DEPRECATED("This map is deprecated and is kept only to prevent breaking "
-                 "existing user code. Starting from PCL 1.8.0 model sample size "
-                 "is a protected member of the SampleConsensusModel class")
-  SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
-}
-
 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
index e4593033704..0f9f64fa9d4 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
@@ -41,7 +41,6 @@
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
-#include <pcl/pcl_macros.h>
 #include <pcl/common/common.h>
 #include <pcl/common/distances.h>
 #include <limits.h>
@@ -282,12 +281,6 @@ namespace pcl
       double 
       pointToAxisDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients);
 
-      /** \brief Get a string representation of the name of this class. */
-      PCL_DEPRECATED ("[pcl::SampleConsensusModelCone::getName] getName is deprecated. Please use getClassName instead.")
-      std::string
-      getName () const { return (model_name_); }
-
-    protected:
       /** \brief Check whether a model is valid given the user constraints.
         * \param[in] model_coefficients the set of model coefficients
         */
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
index 2c6b080eb3a..d7f09aaa1ad 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
@@ -43,7 +43,6 @@
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
-#include <pcl/pcl_macros.h>
 #include <pcl/common/common.h>
 #include <pcl/common/distances.h>
 
@@ -282,12 +281,6 @@ namespace pcl
                               const Eigen::VectorXf &model_coefficients, 
                               Eigen::Vector4f &pt_proj);
 
-      /** \brief Get a string representation of the name of this class. */
-      PCL_DEPRECATED ("[pcl::SampleConsensusModelCylinder::getName] getName is deprecated. Please use getClassName instead.")
-      std::string
-      getName () const { return (model_name_); }
-
-    protected:
       /** \brief Check whether a model is valid given the user constraints.
         * \param[in] model_coefficients the set of model coefficients
         */