diff --git a/2d/include/pcl/2d/convolution.h b/2d/include/pcl/2d/convolution.h
index 7938e2b098d..33c2442d50a 100644
--- a/2d/include/pcl/2d/convolution.h
+++ b/2d/include/pcl/2d/convolution.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_2D_CONVOLUTION_H
-#define PCL_2D_CONVOLUTION_H
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/filters/filter.h>
@@ -156,4 +155,3 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIEdge,
     (float, magnitude_x, magnitude_x)
     (float, magnitude_y, magnitude_y)
 )
-#endif // PCL_2D_CONVOLUTION_2D_H
diff --git a/2d/include/pcl/2d/edge.h b/2d/include/pcl/2d/edge.h
index a0e059ed33b..a4cfb0bca6e 100644
--- a/2d/include/pcl/2d/edge.h
+++ b/2d/include/pcl/2d/edge.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_2D_EDGE_H
-#define PCL_2D_EDGE_H
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/2d/convolution.h>
@@ -303,6 +302,3 @@ namespace pcl
   };
 }
 #include <pcl/2d/impl/edge.hpp>
-
-#endif    // PCL_2D_EDGE_H 
-
diff --git a/2d/include/pcl/2d/kernel.h b/2d/include/pcl/2d/kernel.h
index e440933b335..4b74be3aa1b 100644
--- a/2d/include/pcl/2d/kernel.h
+++ b/2d/include/pcl/2d/kernel.h
@@ -35,10 +35,11 @@
  *
  */
 
-#ifndef PCL_2D_KERNEL_H_
-#define PCL_2D_KERNEL_H_
+#pragma once
+
 #include <pcl/pcl_base.h>
 #include <pcl/point_types.h>
+
 namespace pcl
 {
   template<typename PointT>
@@ -240,5 +241,3 @@ namespace pcl
 }
 
 #include <pcl/2d/impl/kernel.hpp>
-
-#endif    // PCL_2D_KERNEL_H_
diff --git a/2d/include/pcl/2d/keypoint.h b/2d/include/pcl/2d/keypoint.h
index 677e52e6bff..2f9b1e4980c 100644
--- a/2d/include/pcl/2d/keypoint.h
+++ b/2d/include/pcl/2d/keypoint.h
@@ -39,8 +39,7 @@
  *      Author: somani
  */
 
-#ifndef PCL_2D_KEYPOINT_H_
-#define PCL_2D_KEYPOINT_H_
+#pragma once
 
 #include <pcl/2d/edge.h>
 
@@ -71,5 +70,3 @@ namespace pcl
 }
 
 #include <pcl/2d/impl/keypoint.hpp>
-
-#endif    // PCL_2D_KEYPOINT_H_
diff --git a/2d/include/pcl/2d/morphology.h b/2d/include/pcl/2d/morphology.h
index a3847b45bb6..8f7cc61387c 100644
--- a/2d/include/pcl/2d/morphology.h
+++ b/2d/include/pcl/2d/morphology.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_2D_MORPHOLOGY_H_
-#define PCL_2D_MORPHOLOGY_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 
@@ -196,5 +195,3 @@ namespace pcl
 }
 
 #include <pcl/2d/impl/morphology.hpp>
-
-#endif    // PCL_2D_MORPHOLOGY_H_
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
index 8314cd0a8d2..bf45fae25e9 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_BOOST_H
-#define PCL_APPS_IN_HAND_SCANNER_BOOST_H
+#pragma once
 
 #ifdef __GNUC__
 #  pragma GCC system_header
@@ -55,5 +54,3 @@
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/thread.hpp>
 #include <boost/type_traits/is_same.hpp>
-
-#endif // PCL_APPS_IN_HAND_SCANNER_BOOST_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h
index 1dbb52087de..300fd210fa8 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H
-#define PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H
+#pragma once
 
 #include <stdint.h>
 
@@ -93,5 +92,3 @@ namespace pcl
     typedef Mesh::ConstPtr                           MeshConstPtr;
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h
index 9b42bedeca0..7c1208e399b 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_EIGEN_H
-#define PCL_APPS_IN_HAND_SCANNER_EIGEN_H
+#pragma once
 
 #ifdef __GNUC__
 #  pragma GCC system_header
@@ -48,5 +47,3 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <Eigen/Cholesky>
-
-#endif // PCL_APPS_IN_HAND_SCANNER_EIGEN_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/help_window.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/help_window.h
index 952542639c6..99ede4d0c02 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/help_window.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/help_window.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_APPS_IN_HAND_SCANNER_HELP_WINDOW_H
-#define PCL_APPS_IN_HAND_SCANNER_HELP_WINDOW_H
+#pragma once
 
 #include <QDialog>
 
@@ -66,5 +64,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_HELP_WINDOW_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h
index e5db6c12b02..af8abdb5b71 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_ICP_H
-#define PCL_APPS_IN_HAND_SCANNER_ICP_H
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
@@ -221,5 +220,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_ICP_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h
index ef09cad41d2..3fd882bb7d7 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H
-#define PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H
+#pragma once
 
 #include <string>
 #include <sstream>
@@ -307,5 +306,3 @@ namespace pcl
 
 // http://doc.qt.digia.com/qt/qmetatype.html#Q_DECLARE_METATYPE
 Q_DECLARE_METATYPE (pcl::ihs::InHandScanner::RunningMode)
-
-#endif // PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h
index 3da5d329c50..ba0df87b308 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H
-#define PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/apps/in_hand_scanner/eigen.h>
@@ -239,5 +238,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h
index f6ff2e24ac8..da04a616bad 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H
-#define PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H
+#pragma once
 
 #include <stdint.h>
 
@@ -230,5 +229,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h
index 61ec1757cd1..66624438fbc 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H
-#define PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H
+#pragma once
 
 #include <QMainWindow>
 
@@ -136,5 +135,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
index 544a07b33de..546da7523b0 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_MESH_PROCESSING_H
-#define PCL_APPS_IN_HAND_SCANNER_MESH_PROCESSING_H
+#pragma once
 
 #include <pcl/apps/in_hand_scanner/common_types.h>
 
@@ -74,5 +73,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_MESH_PROCESSING_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h
index ce888322cd6..e6291bfeadf 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
-#define PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
+#pragma once
 
 #include <vector>
 #include <string>
@@ -223,5 +222,3 @@ namespace pcl
     };
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h
index 114050c1380..15e5d32ebe0 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_OPENGL_VIEWER_H
-#define PCL_APPS_IN_HAND_SCANNER_OPENGL_VIEWER_H
+#pragma once
 
 #include <string>
 
@@ -452,5 +451,3 @@ namespace pcl
 // http://doc.qt.digia.com/qt/qmetatype.html#Q_DECLARE_METATYPE
 Q_DECLARE_METATYPE (pcl::ihs::OpenGLViewer::MeshRepresentation)
 Q_DECLARE_METATYPE (pcl::ihs::OpenGLViewer::Coloring)
-
-#endif // PCL_APPS_IN_HAND_SCANNER_OPENGL_VIEWER_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/utils.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/utils.h
index 2fe5b1e4897..937734a6223 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/utils.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/utils.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_UTILS_H
-#define PCL_APPS_IN_HAND_SCANNER_UTILS_H
+#pragma once
 
 namespace pcl
 {
@@ -53,5 +52,3 @@ namespace pcl
     }
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_UTILS_H
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/visibility_confidence.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/visibility_confidence.h
index 11fa7a63fe8..95b1c061646 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/visibility_confidence.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/visibility_confidence.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H
-#define PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H
+#pragma once
 
 #include <stdint.h>
 
@@ -86,5 +85,3 @@ namespace pcl
 
   } // End namespace ihs
 } // End namespace pcl
-
-#endif // PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H
diff --git a/apps/include/pcl/apps/openni_passthrough.h b/apps/include/pcl/apps/openni_passthrough.h
index b70aecaa23b..a939b4e2c4d 100644
--- a/apps/include/pcl/apps/openni_passthrough.h
+++ b/apps/include/pcl/apps/openni_passthrough.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPENNI_PASSTHROUGH_3D_
-#define PCL_APPS_OPENNI_PASSTHROUGH_3D_
+#pragma once
 
 // PCL
 #include <pcl/apps/openni_passthrough_qt.h>
@@ -116,5 +115,3 @@ class OpenNIPassthrough : public QMainWindow
     void 
     valueChanged (int new_value);
 };
-
-#endif    // PCL_APPS_OPENNI_PASSTHROUGH_3D_
diff --git a/apps/include/pcl/apps/openni_passthrough_qt.h b/apps/include/pcl/apps/openni_passthrough_qt.h
index 86805ad882e..cdb8f010bb1 100644
--- a/apps/include/pcl/apps/openni_passthrough_qt.h
+++ b/apps/include/pcl/apps/openni_passthrough_qt.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPENNI_PASSTHROUGH_QT_
-#define PCL_APPS_OPENNI_PASSTHROUGH_QT_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -48,5 +47,3 @@
 #include <QMutex>
 #include <QTimer>
 #include <QObject>
-
-#endif    // PCL_APPS_OPENNI_PASSTHROUGH_QT_
diff --git a/apps/include/pcl/apps/organized_segmentation_demo.h b/apps/include/pcl/apps/organized_segmentation_demo.h
index 2d873a347ab..e82e3f9bbd1 100644
--- a/apps/include/pcl/apps/organized_segmentation_demo.h
+++ b/apps/include/pcl/apps/organized_segmentation_demo.h
@@ -34,8 +34,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_ORGANIZED_SEGMENTATION_DEMO_H_
-#define PCL_ORGANIZED_SEGMENTATION_DEMO_H_
+#pragma once
 
 #include <pcl/apps/organized_segmentation_demo_qt.h>
 
@@ -182,5 +181,3 @@ class OrganizedSegmentationDemo : public QMainWindow
     timeoutSlot();
 
 };
-
-#endif    // PCL_ORGANIZED_SEGMENTATION_DEMO_H_
diff --git a/apps/include/pcl/apps/organized_segmentation_demo_qt.h b/apps/include/pcl/apps/organized_segmentation_demo_qt.h
index 9dbc8446ac7..218ad679c0d 100644
--- a/apps/include/pcl/apps/organized_segmentation_demo_qt.h
+++ b/apps/include/pcl/apps/organized_segmentation_demo_qt.h
@@ -34,8 +34,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_ORGANIZED_SEGMENTATION_DEMO_QT_H_
-#define PCL_ORGANIZED_SEGMENTATION_DEMO_QT_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -46,5 +45,3 @@
 #include <QMainWindow>
 #include <QMutex>
 #include <QTimer>
-
-#endif  // PCL_ORGANIZED_SEGMENTATION_DEMO_QT_H_
diff --git a/apps/include/pcl/apps/timer.h b/apps/include/pcl/apps/timer.h
index 00f6bf15287..630a22e98c3 100644
--- a/apps/include/pcl/apps/timer.h
+++ b/apps/include/pcl/apps/timer.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_APPS_TIMER_H_
-#define PCL_APPS_TIMER_H_
+#pragma once
 
 #define MEASURE_FUNCTION_TIME
 #include <pcl/common/time.h> //fps calculations
@@ -64,5 +63,3 @@ do \
 { \
 }while(false)
 #endif
-
-#endif    // PCL_APPS_TIMER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/abstract_item.h b/apps/modeler/include/pcl/apps/modeler/abstract_item.h
index 6d98737bff1..ad69a5d06ba 100755
--- a/apps/modeler/include/pcl/apps/modeler/abstract_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/abstract_item.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_ABSTRACT_ITEM_H_
-#define PCL_MODELER_ABSTRACT_ITEM_H_
+#pragma once
 
 #include <string>
 
@@ -82,5 +81,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_ABSTRACT_ITEM_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/abstract_worker.h b/apps/modeler/include/pcl/apps/modeler/abstract_worker.h
index 6c5ba319655..c7a2264480c 100755
--- a/apps/modeler/include/pcl/apps/modeler/abstract_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/abstract_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_ABSTRACT_WORKER_H_
-#define PCL_MODELER_ABSTRACT_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -91,5 +90,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_ABSTRACT_WORKER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/channel_actor_item.h b/apps/modeler/include/pcl/apps/modeler/channel_actor_item.h
index e7f6c39d256..67e4d2a4b1a 100755
--- a/apps/modeler/include/pcl/apps/modeler/channel_actor_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/channel_actor_item.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_CHANNEL_ACTOR_ITEM_H_
-#define PCL_MODELER_CHANNEL_ACTOR_ITEM_H_
+
+#pragma once
 
 #include <vtkSmartPointer.h>
 #include <boost/shared_ptr.hpp>
@@ -100,5 +100,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_CHANNEL_ACTOR_ITEM_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/cloud_mesh.h b/apps/modeler/include/pcl/apps/modeler/cloud_mesh.h
index c5929e677f6..2cfab04be8c 100755
--- a/apps/modeler/include/pcl/apps/modeler/cloud_mesh.h
+++ b/apps/modeler/include/pcl/apps/modeler/cloud_mesh.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_CLOUD_MESH_H_
-#define PCL_MODELER_CLOUD_MESH_H_
+
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -117,5 +117,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_CLOUD_MESH_H_
\ No newline at end of file
diff --git a/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item.h b/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item.h
index 5f6ea96805d..cac4b3b9628 100755
--- a/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_CLOUD_MESH_ITEM_H_
-#define PCL_MODELER_CLOUD_MESH_ITEM_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 #include <boost/shared_ptr.hpp>
@@ -108,5 +108,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_CLOUD_MESH_ITEM_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item_updater.h b/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item_updater.h
index 2f297855a2f..9b35b265d9a 100755
--- a/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item_updater.h
+++ b/apps/modeler/include/pcl/apps/modeler/cloud_mesh_item_updater.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_CLOUD_MESH_ITEM_UPDATER_H_
-#define PCL_MODELER_CLOUD_MESH_ITEM_UPDATER_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -61,5 +61,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_CLOUD_MESH_ITEM_UPDATER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/dock_widget.h b/apps/modeler/include/pcl/apps/modeler/dock_widget.h
index 280da304f50..ce2cd97dd63 100755
--- a/apps/modeler/include/pcl/apps/modeler/dock_widget.h
+++ b/apps/modeler/include/pcl/apps/modeler/dock_widget.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_DOCK_WIDGET_H_
-#define PCL_MODELER_DOCK_WIDGET_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -60,5 +59,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_DOCK_WIDGET_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/icp_registration_worker.h b/apps/modeler/include/pcl/apps/modeler/icp_registration_worker.h
index 67330342b7d..2f00a29a5db 100755
--- a/apps/modeler/include/pcl/apps/modeler/icp_registration_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/icp_registration_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_ICP_REGISTRATION_WORKER_H_
-#define PCL_MODELER_ICP_REGISTRATION_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/abstract_worker.h>
 #include <pcl/apps/modeler/cloud_mesh.h>
@@ -81,5 +80,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_ICP_REGISTRATION_WORKER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/main_window.h b/apps/modeler/include/pcl/apps/modeler/main_window.h
index 4f061834da0..ac5ac592516 100755
--- a/apps/modeler/include/pcl/apps/modeler/main_window.h
+++ b/apps/modeler/include/pcl/apps/modeler/main_window.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_MAIN_WINDOW_H_
-#define PCL_MODELER_MAIN_WINDOW_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 #include <boost/shared_ptr.hpp>
@@ -145,5 +144,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_MAIN_WINDOW_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/normal_estimation_worker.h b/apps/modeler/include/pcl/apps/modeler/normal_estimation_worker.h
index e594da2fb8f..1c1507d9505 100755
--- a/apps/modeler/include/pcl/apps/modeler/normal_estimation_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/normal_estimation_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_NORMAL_ESTIMATION_WORKER_H_
-#define PCL_MODELER_NORMAL_ESTIMATION_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/abstract_worker.h>
 
@@ -75,4 +74,3 @@ namespace pcl
   }
 }
 
-#endif // PCL_MODELER_NORMAL_ESTIMATION_WORKER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/normals_actor_item.h b/apps/modeler/include/pcl/apps/modeler/normals_actor_item.h
index da0fe1db3ae..d0077740753 100755
--- a/apps/modeler/include/pcl/apps/modeler/normals_actor_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/normals_actor_item.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_NORMALS_ACTOR_ITEM_H_
-#define PCL_MODELER_NORMALS_ACTOR_ITEM_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/channel_actor_item.h>
 #include <pcl/visualization/point_cloud_handlers.h>
@@ -81,5 +81,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_NORMALS_ACTOR_ITEM_H_
\ No newline at end of file
diff --git a/apps/modeler/include/pcl/apps/modeler/parameter.h b/apps/modeler/include/pcl/apps/modeler/parameter.h
index d45f1c1f1dc..9f279ce4e47 100755
--- a/apps/modeler/include/pcl/apps/modeler/parameter.h
+++ b/apps/modeler/include/pcl/apps/modeler/parameter.h
@@ -33,8 +33,8 @@
 *
 *
 */
-#ifndef PCL_MODELER_PARAMETER_H_
-#define PCL_MODELER_PARAMETER_H_
+
+#pragma once
 
 #include <map>
 #include <string>
@@ -273,5 +273,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_PARAMETER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/parameter_dialog.h b/apps/modeler/include/pcl/apps/modeler/parameter_dialog.h
index 4e1247e4950..4e64c6138d5 100755
--- a/apps/modeler/include/pcl/apps/modeler/parameter_dialog.h
+++ b/apps/modeler/include/pcl/apps/modeler/parameter_dialog.h
@@ -33,8 +33,8 @@
 *
 *
 */
-#ifndef PCL_MODELER_PARAMETER_DIALOG_H_
-#define PCL_MODELER_PARAMETER_DIALOG_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -111,5 +111,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_PARAMETER_DIALOG_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/points_actor_item.h b/apps/modeler/include/pcl/apps/modeler/points_actor_item.h
index f6ed4a2e591..10014f492f5 100755
--- a/apps/modeler/include/pcl/apps/modeler/points_actor_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/points_actor_item.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_POINTS_ACTOR_ITEM_H_
-#define PCL_MODELER_POINTS_ACTOR_ITEM_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/channel_actor_item.h>
 #include <pcl/visualization/point_cloud_handlers.h>
@@ -77,5 +77,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_POINTS_ACTOR_ITEM_H_
\ No newline at end of file
diff --git a/apps/modeler/include/pcl/apps/modeler/poisson_worker.h b/apps/modeler/include/pcl/apps/modeler/poisson_worker.h
index be399091072..69c2fed113a 100755
--- a/apps/modeler/include/pcl/apps/modeler/poisson_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/poisson_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_POISSON_WORKER_H_
-#define PCL_MODELER_POISSON_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/abstract_worker.h>
 
@@ -76,5 +75,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_POISSON_WORKER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/qt.h b/apps/modeler/include/pcl/apps/modeler/qt.h
index 6ba50022c43..e0ff3832f70 100644
--- a/apps/modeler/include/pcl/apps/modeler/qt.h
+++ b/apps/modeler/include/pcl/apps/modeler/qt.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_MODELER_QT_H_
-#define PCL_MODELER_QT_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -87,5 +86,3 @@
 #include <QStandardItemModel>
 #include <QStyledItemDelegate>
 #include <QVTKWidget.h>
-
-#endif // PCL_MODELER_QT_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/render_window.h b/apps/modeler/include/pcl/apps/modeler/render_window.h
index 8b3058138f4..c6b54e19ef9 100755
--- a/apps/modeler/include/pcl/apps/modeler/render_window.h
+++ b/apps/modeler/include/pcl/apps/modeler/render_window.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_RENDER_WINDOW_H_
-#define PCL_MODELER_RENDER_WINDOW_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 #include <vtkSmartPointer.h>
@@ -94,5 +93,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_RENDER_WINDOW_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/render_window_item.h b/apps/modeler/include/pcl/apps/modeler/render_window_item.h
index a94374b63c9..354658c50e9 100755
--- a/apps/modeler/include/pcl/apps/modeler/render_window_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/render_window_item.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_RENDER_WINDOW_ITEM_H_
-#define PCL_MODELER_RENDER_WINDOW_ITEM_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 #include <pcl/apps/modeler/abstract_item.h>
@@ -94,5 +93,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_RENDER_WINDOW_ITEM_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/scene_tree.h b/apps/modeler/include/pcl/apps/modeler/scene_tree.h
index 45ab04685b2..78475071f4a 100755
--- a/apps/modeler/include/pcl/apps/modeler/scene_tree.h
+++ b/apps/modeler/include/pcl/apps/modeler/scene_tree.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_SCENE_TREE_H_
-#define PCL_MODELER_SCENE_TREE_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -140,5 +139,3 @@ namespace pcl
 }
 
 #include <pcl/apps/modeler/impl/scene_tree.hpp>
-
-#endif // PCL_MODELER_SCENE_TREE_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/statistical_outlier_removal_worker.h b/apps/modeler/include/pcl/apps/modeler/statistical_outlier_removal_worker.h
index 7992a89697a..3d59496d306 100755
--- a/apps/modeler/include/pcl/apps/modeler/statistical_outlier_removal_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/statistical_outlier_removal_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_STATISTICAL_OUTLIER_REMOVAL_WORKER_H_
-#define PCL_MODELER_STATISTICAL_OUTLIER_REMOVAL_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/abstract_worker.h>
 
@@ -73,5 +72,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_STATISTICAL_OUTLIER_REMOVAL_WORKER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/surface_actor_item.h b/apps/modeler/include/pcl/apps/modeler/surface_actor_item.h
index 43a1a4460ea..57716dc237b 100755
--- a/apps/modeler/include/pcl/apps/modeler/surface_actor_item.h
+++ b/apps/modeler/include/pcl/apps/modeler/surface_actor_item.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_MODELER_SURFACE_ACTOR_ITEM_H_
-#define PCL_MODELER_SURFACE_ACTOR_ITEM_H_
+
+#pragma once
 
 #include <pcl/apps/modeler/channel_actor_item.h>
 #include <pcl/visualization/point_cloud_handlers.h>
@@ -84,5 +84,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_MODELER_SURFACE_ACTOR_ITEM_H_
\ No newline at end of file
diff --git a/apps/modeler/include/pcl/apps/modeler/thread_controller.h b/apps/modeler/include/pcl/apps/modeler/thread_controller.h
index f6a56be1e3f..20a31ed669f 100755
--- a/apps/modeler/include/pcl/apps/modeler/thread_controller.h
+++ b/apps/modeler/include/pcl/apps/modeler/thread_controller.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_THREAD_CONTROLLER_H_
-#define PCL_MODELER_THREAD_CONTROLLER_H_
+#pragma once
 
 #include <pcl/apps/modeler/qt.h>
 
@@ -68,5 +67,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_THREAD_CONTROLLER_H_
diff --git a/apps/modeler/include/pcl/apps/modeler/voxel_grid_downsample_worker.h b/apps/modeler/include/pcl/apps/modeler/voxel_grid_downsample_worker.h
index c68133d750d..28784b902dd 100755
--- a/apps/modeler/include/pcl/apps/modeler/voxel_grid_downsample_worker.h
+++ b/apps/modeler/include/pcl/apps/modeler/voxel_grid_downsample_worker.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_MODELER_DOWNSAMPLE_WORKER_H_
-#define PCL_MODELER_DOWNSAMPLE_WORKER_H_
+#pragma once
 
 #include <pcl/apps/modeler/abstract_worker.h>
 
@@ -77,5 +76,3 @@ namespace pcl
 
   }
 }
-
-#endif // PCL_MODELER_DOWNSAMPLE_WORKER_H_
diff --git a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/cloud_filter.h b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/cloud_filter.h
index 8c28f7a7f9a..35f61da8839 100644
--- a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/cloud_filter.h
+++ b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/cloud_filter.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPTRONIC_VIEWER_CLOUD_FILTER_H_
-#define PCL_APPS_OPTRONIC_VIEWER_CLOUD_FILTER_H_
+#pragma once
 
 #include <pcl/apps/optronic_viewer/qt.h>
 #include <boost/shared_ptr.hpp>
@@ -445,5 +444,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_APPS_OPTRONIC_VIEWER_CLOUD_FILTER_H_
diff --git a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/filter_window.h b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/filter_window.h
index d92618c017a..fa5fd1047f8 100644
--- a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/filter_window.h
+++ b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/filter_window.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPTRONIC_VIEWER_FILTER_WINDOW_H_
-#define PCL_APPS_OPTRONIC_VIEWER_FILTER_WINDOW_H_
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -116,5 +115,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_APPS_OPTRONIC_VIEWER_FILTER_WINDOW_H_
diff --git a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/main_window.h b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/main_window.h
index 3da12a63464..c60ab71cfc2 100644
--- a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/main_window.h
+++ b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/main_window.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_
-#define PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -170,5 +169,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_
diff --git a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/openni_grabber.h b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/openni_grabber.h
index 9963a7a77c0..0f6a8d509cc 100644
--- a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/openni_grabber.h
+++ b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/openni_grabber.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_
-#define PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_
+#pragma once
 
 #include <pcl/apps/optronic_viewer/qt.h>
 #include <boost/shared_ptr.hpp>
@@ -84,5 +83,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_
diff --git a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/qt.h b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/qt.h
index 140ff70ae3d..467f9ca566e 100644
--- a/apps/optronic_viewer/include/pcl/apps/optronic_viewer/qt.h
+++ b/apps/optronic_viewer/include/pcl/apps/optronic_viewer/qt.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_APPS_OPTRONIC_VIEWER_QT_H_
-#define PCL_APPS_OPTRONIC_VIEWER_QT_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -97,5 +96,3 @@
 
 #include <QTimer>
 #include <QTime>
-
-#endif // PCL_APPS_OPTRONIC_VIEWER_QT_H_
diff --git a/common/include/pcl/ModelCoefficients.h b/common/include/pcl/ModelCoefficients.h
index e47a568c99c..dfbab2a786e 100644
--- a/common/include/pcl/ModelCoefficients.h
+++ b/common/include/pcl/ModelCoefficients.h
@@ -1,5 +1,5 @@
-#ifndef PCL_MESSAGE_MODELCOEFFICIENTS_H
-#define PCL_MESSAGE_MODELCOEFFICIENTS_H
+#pragma once
+
 #include <string>
 #include <vector>
 #include <ostream>
@@ -41,6 +41,3 @@ namespace pcl
   }
 
 } // namespace pcl
-
-#endif // PCL_MESSAGE_MODELCOEFFICIENTS_H
-
diff --git a/common/include/pcl/PCLHeader.h b/common/include/pcl/PCLHeader.h
index 854b869ad4b..affc7ffdbe5 100644
--- a/common/include/pcl/PCLHeader.h
+++ b/common/include/pcl/PCLHeader.h
@@ -1,5 +1,4 @@
-#ifndef PCL_ROSLIB_MESSAGE_HEADER_H
-#define PCL_ROSLIB_MESSAGE_HEADER_H
+#pragma once
 
 #ifdef USE_ROS
    #error USE_ROS setup requires PCL to compile against ROS message headers, which is now deprecated
@@ -50,6 +49,3 @@ namespace pcl
   }
 
 } // namespace pcl
-
-#endif // PCL_ROSLIB_MESSAGE_HEADER_H
-
diff --git a/common/include/pcl/PCLImage.h b/common/include/pcl/PCLImage.h
index 8d55b5d1003..3e291529ef5 100644
--- a/common/include/pcl/PCLImage.h
+++ b/common/include/pcl/PCLImage.h
@@ -1,5 +1,5 @@
-#ifndef PCL_MESSAGE_IMAGE_H
-#define PCL_MESSAGE_IMAGE_H
+#pragma once
+
 #include <string>
 #include <vector>
 #include <ostream>
@@ -60,6 +60,3 @@ namespace pcl
     return (s);
   }
 } // namespace pcl
-
-#endif // PCL_MESSAGE_IMAGE_H
-
diff --git a/common/include/pcl/PCLPointCloud2.h b/common/include/pcl/PCLPointCloud2.h
index 6a00c1f2ed1..2f75d5da3d3 100644
--- a/common/include/pcl/PCLPointCloud2.h
+++ b/common/include/pcl/PCLPointCloud2.h
@@ -1,5 +1,4 @@
-#ifndef PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
-#define PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
+#pragma once
 
 #ifdef USE_ROS
    #error USE_ROS setup requires PCL to compile against ROS message headers, which is now deprecated
@@ -89,6 +88,3 @@ namespace pcl
   }
 
 } // namespace pcl
-
-#endif // PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
-
diff --git a/common/include/pcl/PCLPointField.h b/common/include/pcl/PCLPointField.h
index 835e353e31e..0aa52fd8572 100644
--- a/common/include/pcl/PCLPointField.h
+++ b/common/include/pcl/PCLPointField.h
@@ -1,5 +1,4 @@
-#ifndef PCL_SENSOR_MSGS_MESSAGE_POINTFIELD_H
-#define PCL_SENSOR_MSGS_MESSAGE_POINTFIELD_H
+#pragma once
 
 #ifdef USE_ROS
    #error USE_ROS setup requires PCL to compile against ROS message headers, which is now deprecated
@@ -54,6 +53,3 @@ namespace pcl
     return (s);
   }
 } // namespace pcl
-
-#endif // PCL_SENSOR_MSGS_MESSAGE_POINTFIELD_H
-
diff --git a/common/include/pcl/PointIndices.h b/common/include/pcl/PointIndices.h
index f2de80654fe..d1320362fc6 100644
--- a/common/include/pcl/PointIndices.h
+++ b/common/include/pcl/PointIndices.h
@@ -1,5 +1,5 @@
-#ifndef PCL_MESSAGE_POINTINDICES_H
-#define PCL_MESSAGE_POINTINDICES_H
+#pragma once
+
 #include <string>
 #include <vector>
 #include <ostream>
@@ -39,6 +39,3 @@ namespace pcl
     return (s);
   }
 } // namespace pcl
-
-#endif // PCL_MESSAGE_POINTINDICES_H
-
diff --git a/common/include/pcl/PolygonMesh.h b/common/include/pcl/PolygonMesh.h
index 06aa69ef366..b4719c7f36e 100644
--- a/common/include/pcl/PolygonMesh.h
+++ b/common/include/pcl/PolygonMesh.h
@@ -1,6 +1,6 @@
 /* Auto-generated by genmsg_cpp for file /work/ros/pkgs-trunk/point_cloud_perception/pcl/msg/PolygonMesh.msg */
-#ifndef PCL_MESSAGE_POLYGONMESH_H
-#define PCL_MESSAGE_POLYGONMESH_H
+#pragma once
+
 #include <string>
 #include <vector>
 #include <ostream>
@@ -48,6 +48,3 @@ namespace pcl
   }
 
 } // namespace pcl
-
-#endif // PCL_MESSAGE_POLYGONMESH_H
-
diff --git a/common/include/pcl/TextureMesh.h b/common/include/pcl/TextureMesh.h
index 2fd1233d64a..3a58c2656dc 100644
--- a/common/include/pcl/TextureMesh.h
+++ b/common/include/pcl/TextureMesh.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_TEXTUREMESH_H_
-#define PCL_TEXTUREMESH_H_
+#pragma once
 
 #include <Eigen/Core>
 #include <string>
@@ -109,6 +108,3 @@ namespace pcl
    typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr;
    typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr;
 } // namespace pcl
-
-#endif /* PCL_TEXTUREMESH_H_ */
-
diff --git a/common/include/pcl/Vertices.h b/common/include/pcl/Vertices.h
index 81ba8a95c50..f222c57527b 100644
--- a/common/include/pcl/Vertices.h
+++ b/common/include/pcl/Vertices.h
@@ -1,5 +1,5 @@
-#ifndef PCL_MESSAGE_VERTICES_H
-#define PCL_MESSAGE_VERTICES_H
+#pragma once
+
 #include <string>
 #include <vector>
 #include <ostream>
@@ -38,6 +38,3 @@ namespace pcl
     return (s);
   }
 } // namespace pcl
-
-#endif // PCL_MESSAGE_VERTICES_H
-
diff --git a/common/include/pcl/cloud_iterator.h b/common/include/pcl/cloud_iterator.h
index b7a0011267a..b435baa2601 100644
--- a/common/include/pcl/cloud_iterator.h
+++ b/common/include/pcl/cloud_iterator.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_POINT_CLOUD_ITERATOR_H_
-#define PCL_POINT_CLOUD_ITERATOR_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/PointIndices.h>
@@ -189,5 +188,3 @@ namespace pcl
 } // namespace pcl
 
 #include <pcl/impl/cloud_iterator.hpp>
-
-#endif    // PCL_POINT_CLOUD_ITERATOR_H_
diff --git a/common/include/pcl/common/angles.h b/common/include/pcl/common/angles.h
index 619fe7c2e2e..da7acd789ab 100644
--- a/common/include/pcl/common/angles.h
+++ b/common/include/pcl/common/angles.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_ANGLES_H_
-#define PCL_COMMON_ANGLES_H_
+#pragma once
 
 /**
   * \file pcl/common/angles.h
@@ -85,5 +84,3 @@ namespace pcl
 }
 /*@}*/
 #include <pcl/common/impl/angles.hpp>
-
-#endif  // PCL_COMMON_ANGLES_H_
diff --git a/common/include/pcl/common/boost.h b/common/include/pcl/common/boost.h
index acc70af5b63..a0d83a1c049 100644
--- a/common/include/pcl/common/boost.h
+++ b/common/include/pcl/common/boost.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_BOOST_H_
-#define PCL_COMMON_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -58,5 +57,3 @@
 #include <boost/signals2/slot.hpp>
 #include <boost/algorithm/string.hpp>
 #endif
-
-#endif    // PCL_COMMON_BOOST_H_
diff --git a/common/include/pcl/common/centroid.h b/common/include/pcl/common/centroid.h
index 7d8e1173e18..8b40e51d290 100644
--- a/common/include/pcl/common/centroid.h
+++ b/common/include/pcl/common/centroid.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_CENTROID_H_
-#define PCL_COMMON_CENTROID_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_traits.h>
@@ -1130,5 +1129,3 @@ namespace pcl
 }
 /*@}*/
 #include <pcl/common/impl/centroid.hpp>
-
-#endif  //#ifndef PCL_COMMON_CENTROID_H_
diff --git a/common/include/pcl/common/colors.h b/common/include/pcl/common/colors.h
index 419bd97805b..584fba454e4 100644
--- a/common/include/pcl/common/colors.h
+++ b/common/include/pcl/common/colors.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_COMMON_COLORS_H
-#define PCL_COMMON_COLORS_H
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -85,6 +84,3 @@ namespace pcl
   typedef ColorLUT<pcl::LUT_VIRIDIS> ViridisLUT;
 
 }
-
-#endif /* PCL_COMMON_COLORS_H */
-
diff --git a/common/include/pcl/common/common.h b/common/include/pcl/common/common.h
index d9fc4faf81c..49b2210b25a 100644
--- a/common/include/pcl/common/common.h
+++ b/common/include/pcl/common/common.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_COMMON_H_
-#define PCL_COMMON_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <cfloat>
@@ -204,5 +203,3 @@ namespace pcl
 }
 /*@}*/
 #include <pcl/common/impl/common.hpp>
-
-#endif  //#ifndef PCL_COMMON_H_
diff --git a/common/include/pcl/common/common_headers.h b/common/include/pcl/common/common_headers.h
index 626f3b78701..bf68765d8d8 100644
--- a/common/include/pcl/common/common_headers.h
+++ b/common/include/pcl/common/common_headers.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_COMMON_HEADERS_
-#define PCL_COMMON_HEADERS_
+#pragma once
 
 #include <pcl/common/common.h>
 #include <pcl/common/norms.h>
@@ -42,5 +41,3 @@
 #include <pcl/common/time.h>
 #include <pcl/common/file_io.h>
 #include <pcl/common/eigen.h>
-
-#endif  //#ifndef PCL_COMMON_HEADERS_
diff --git a/common/include/pcl/common/concatenate.h b/common/include/pcl/common/concatenate.h
index f1aa87e1223..3c391b3a4b1 100644
--- a/common/include/pcl/common/concatenate.h
+++ b/common/include/pcl/common/concatenate.h
@@ -35,8 +35,8 @@
  *
  *
  */
-#ifndef PCL_COMMON_CONCATENATE_H_
-#define PCL_COMMON_CONCATENATE_H_
+
+#pragma once
 
 #include <pcl/conversions.h>
 
@@ -102,6 +102,3 @@ namespace pcl
 #    pragma warning(pop)
 #  endif
 #endif
-
-#endif // PCL_COMMON_CONCATENATE_H_
-
diff --git a/common/include/pcl/common/copy_point.h b/common/include/pcl/common/copy_point.h
index 0e80cfe733a..2f490ad64be 100644
--- a/common/include/pcl/common/copy_point.h
+++ b/common/include/pcl/common/copy_point.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_COMMON_COPY_POINT_H_
-#define PCL_COMMON_COPY_POINT_H_
+#pragma once
 
 namespace pcl
 {
@@ -57,6 +56,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/copy_point.hpp>
-
-#endif // PCL_COMMON_COPY_POINT_H_
-
diff --git a/common/include/pcl/common/distances.h b/common/include/pcl/common/distances.h
index 144074813c7..44dc99967d7 100644
--- a/common/include/pcl/common/distances.h
+++ b/common/include/pcl/common/distances.h
@@ -34,8 +34,8 @@
  * $Id$
  *
  */
-#ifndef PCL_DISTANCES_H_
-#define PCL_DISTANCES_H_
+
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -198,6 +198,3 @@ namespace pcl
     return (std::sqrt (squaredEuclideanDistance (p1, p2)));
   }
 }
-/*@*/
-#endif  //#ifndef PCL_DISTANCES_H_
-
diff --git a/common/include/pcl/common/eigen.h b/common/include/pcl/common/eigen.h
index 3869c92fe3d..f5219b39ae8 100644
--- a/common/include/pcl/common/eigen.h
+++ b/common/include/pcl/common/eigen.h
@@ -39,8 +39,8 @@
  * $Id$
  *
  */
-#ifndef PCL_COMMON_EIGEN_H_
-#define PCL_COMMON_EIGEN_H_
+
+#pragma once
 
 #ifndef NOMINMAX
 #define NOMINMAX
@@ -718,5 +718,3 @@ namespace pcl
 #if defined __SUNPRO_CC
 #  pragma enable_warn
 #endif
-
-#endif  //PCL_COMMON_EIGEN_H_
diff --git a/common/include/pcl/common/feature_histogram.h b/common/include/pcl/common/feature_histogram.h
index 99ba8a6ddc9..46d7d611442 100644
--- a/common/include/pcl/common/feature_histogram.h
+++ b/common/include/pcl/common/feature_histogram.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_FEATURE_HISTOGRAM_H_
-#define PCL_FEATURE_HISTOGRAM_H_
+#pragma once
 
 #include <vector>
 
@@ -122,4 +121,3 @@ namespace pcl
       size_t number_of_bins_;
   };
 }
-#endif // PCL_FEATURE_HISTOGRAM_H_
\ No newline at end of file
diff --git a/common/include/pcl/common/file_io.h b/common/include/pcl/common/file_io.h
index fb1ee18a62c..f4fa71c9886 100644
--- a/common/include/pcl/common/file_io.h
+++ b/common/include/pcl/common/file_io.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_FILE_IO_H_
-#define PCL_COMMON_FILE_IO_H_
+#pragma once
 
 #include <iostream>
 #ifndef _WIN32
@@ -87,5 +86,3 @@ namespace pcl
 }  // namespace end
 /*@}*/
 #include <pcl/common/impl/file_io.hpp>
-
-#endif  //#ifndef PCL_FILE_IO_H_
diff --git a/common/include/pcl/common/gaussian.h b/common/include/pcl/common/gaussian.h
index 2c38937d632..16c6d225eda 100644
--- a/common/include/pcl/common/gaussian.h
+++ b/common/include/pcl/common/gaussian.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_GAUSSIAN_KERNEL
-#define PCL_GAUSSIAN_KERNEL
+#pragma once
 
 #include <sstream>
 #include <pcl/common/eigen.h>
@@ -262,5 +261,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/gaussian.hpp>
-
-#endif // PCL_GAUSSIAN_KERNEL
diff --git a/common/include/pcl/common/generate.h b/common/include/pcl/common/generate.h
index 1cfd214c069..6305c713628 100644
--- a/common/include/pcl/common/generate.h
+++ b/common/include/pcl/common/generate.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_COMMON_GENERATE_H_
-#define PCL_COMMON_GENERATE_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -185,5 +184,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/generate.hpp>
-
-#endif
diff --git a/common/include/pcl/common/geometry.h b/common/include/pcl/common/geometry.h
index dd19237f0e1..c7b613e17cb 100644
--- a/common/include/pcl/common/geometry.h
+++ b/common/include/pcl/common/geometry.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_H_
-#define PCL_GEOMETRY_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header
@@ -160,6 +159,3 @@ namespace pcl
 
   }
 }
-
-/*@}*/
-#endif  //#ifndef PCL_GEOMETRY_H_
diff --git a/common/include/pcl/common/intensity.h b/common/include/pcl/common/intensity.h
index 18ede88eb0a..cd38fc402d7 100644
--- a/common/include/pcl/common/intensity.h
+++ b/common/include/pcl/common/intensity.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_COMMON_INTENSITY_FIELD_SELECTOR_H
-#define PCL_COMMON_INTENSITY_FIELD_SELECTOR_H
+#pragma once
 
 namespace pcl
 {
@@ -100,5 +99,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/intensity.hpp>
-
-#endif
diff --git a/common/include/pcl/common/intersections.h b/common/include/pcl/common/intersections.h
index d0b6733b369..28a3f80e828 100644
--- a/common/include/pcl/common/intersections.h
+++ b/common/include/pcl/common/intersections.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_INTERSECTIONS_H_
-#define PCL_INTERSECTIONS_H_
+#pragma once
 
 #include <pcl/ModelCoefficients.h>
 #include <pcl/common/common.h>
@@ -156,5 +155,3 @@ namespace pcl
 /*@}*/
 
 #include <pcl/common/impl/intersections.hpp>
-
-#endif  //#ifndef PCL_INTERSECTIONS_H_
diff --git a/common/include/pcl/common/io.h b/common/include/pcl/common/io.h
index 6779d800c17..11316f1c645 100644
--- a/common/include/pcl/common/io.h
+++ b/common/include/pcl/common/io.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_COMMON_IO_H_
-#define PCL_COMMON_IO_H_
+#pragma once
 
 #include <string>
 #include <pcl/pcl_base.h>
@@ -532,6 +531,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/io.hpp>
-
-#endif  //#ifndef PCL_COMMON_IO_H_
-
diff --git a/common/include/pcl/common/norms.h b/common/include/pcl/common/norms.h
index d4fb82ccba9..c97a162f055 100644
--- a/common/include/pcl/common/norms.h
+++ b/common/include/pcl/common/norms.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_NORMS_H_
-#define PCL_COMMON_NORMS_H_
+#pragma once
 
 /**
   * \file norms.h
@@ -197,5 +196,3 @@ namespace pcl
 }
 /*@}*/
 #include <pcl/common/impl/norms.hpp>
-
-#endif  //#ifndef PCL_NORMS_H_
diff --git a/common/include/pcl/common/pca.h b/common/include/pcl/common/pca.h
index de71fd0cb05..1857abe3749 100644
--- a/common/include/pcl/common/pca.h
+++ b/common/include/pcl/common/pca.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_PCA_H
-#define PCL_PCA_H
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/pcl_macros.h>
@@ -284,6 +283,3 @@ namespace pcl
 } // namespace pcl
 
 #include <pcl/common/impl/pca.hpp>
-
-#endif // PCL_PCA_H
-
diff --git a/common/include/pcl/common/piecewise_linear_function.h b/common/include/pcl/common/piecewise_linear_function.h
index 1be4eb0b95c..837f9cea165 100644
--- a/common/include/pcl/common/piecewise_linear_function.h
+++ b/common/include/pcl/common/piecewise_linear_function.h
@@ -35,8 +35,7 @@
 
 /* \author Bastian Steder */
 
-#ifndef PCL_PIECEWISE_LINEAR_FUNCTION_H_
-#define PCL_PIECEWISE_LINEAR_FUNCTION_H_
+#pragma once
 
 #include <vector>
 
@@ -77,5 +76,3 @@ namespace pcl
 }  // end namespace pcl
 
 #include <pcl/common/impl/piecewise_linear_function.hpp>
-
-#endif  //#ifndef PCL_PIECEWISE_LINEAR_FUNCTION_H_
diff --git a/common/include/pcl/common/point_operators.h b/common/include/pcl/common/point_operators.h
index a28397f991a..b32c86e6ae8 100644
--- a/common/include/pcl/common/point_operators.h
+++ b/common/include/pcl/common/point_operators.h
@@ -38,7 +38,4 @@
  *
  */
 
-#ifndef PCL_COMMON_POINT_OPERATORS_H
-#define PCL_COMMON_POINT_OPERATORS_H
-
-#endif
+#pragma once
diff --git a/common/include/pcl/common/point_tests.h b/common/include/pcl/common/point_tests.h
index a110f76325b..730911b100a 100644
--- a/common/include/pcl/common/point_tests.h
+++ b/common/include/pcl/common/point_tests.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_COMMON_POINT_TESTS_H_
-#define PCL_COMMON_POINT_TESTS_H_
+#pragma once
 
 #ifdef _MSC_VER
 #include <Eigen/src/StlSupport/details.h>
@@ -109,6 +108,3 @@ namespace pcl
     return (pcl_isfinite (n.normal_x) && pcl_isfinite (n.normal_y) && pcl_isfinite (n.normal_z));
   }
 }
-
-#endif    // PCL_COMMON_POINT_TESTS_H_
-
diff --git a/common/include/pcl/common/polynomial_calculations.h b/common/include/pcl/common/polynomial_calculations.h
index 111d41fe30b..b537debb8b5 100644
--- a/common/include/pcl/common/polynomial_calculations.h
+++ b/common/include/pcl/common/polynomial_calculations.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_POLYNOMIAL_CALCULATIONS_H_
-#define PCL_POLYNOMIAL_CALCULATIONS_H_
+#pragma once
 
 #include <pcl/common/eigen.h>
 #include <pcl/common/bivariate_polynomial.h>
@@ -131,5 +130,3 @@ namespace pcl
 }  // end namespace
 
 #include <pcl/common/impl/polynomial_calculations.hpp>
-
-#endif
diff --git a/common/include/pcl/common/poses_from_matches.h b/common/include/pcl/common/poses_from_matches.h
index 45a10d9c9d8..332e078665a 100644
--- a/common/include/pcl/common/poses_from_matches.h
+++ b/common/include/pcl/common/poses_from_matches.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_POSES_FROM_MATCHES_H_
-#define PCL_POSES_FROM_MATCHES_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/correspondence.h>
@@ -128,5 +127,3 @@ namespace pcl
   };
 
 }  // end namespace pcl
-
-#endif  //#ifndef PCL_POSES_FROM_MATCHES_H_
diff --git a/common/include/pcl/common/random.h b/common/include/pcl/common/random.h
index da446086ba0..65c9b582cb7 100644
--- a/common/include/pcl/common/random.h
+++ b/common/include/pcl/common/random.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_COMMON_RANDOM_H_
-#define PCL_COMMON_RANDOM_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -229,5 +228,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/random.hpp>
-
-#endif
diff --git a/common/include/pcl/common/spring.h b/common/include/pcl/common/spring.h
index 4d980829df4..2cb02f0dea7 100644
--- a/common/include/pcl/common/spring.h
+++ b/common/include/pcl/common/spring.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_POINT_CLOUD_SPRING_H_
-#define PCL_POINT_CLOUD_SPRING_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -128,5 +127,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/spring.hpp>
-
-#endif
diff --git a/common/include/pcl/common/time.h b/common/include/pcl/common/time.h
index 093c262eca2..1f88e2c2170 100644
--- a/common/include/pcl/common/time.h
+++ b/common/include/pcl/common/time.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_TIME_H_
-#define PCL_TIME_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -233,5 +232,3 @@ if (1) {\
 
 }  // end namespace
 /*@}*/
-
-#endif  //#ifndef PCL_NORMS_H_
diff --git a/common/include/pcl/common/time_trigger.h b/common/include/pcl/common/time_trigger.h
index c4af9b5e910..cb8f50adfec 100644
--- a/common/include/pcl/common/time_trigger.h
+++ b/common/include/pcl/common/time_trigger.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_COMMON_TIME_TRIGGER_H_
-#define PCL_COMMON_TIME_TRIGGER_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #ifndef Q_MOC_RUN
@@ -104,5 +103,3 @@ namespace pcl
       boost::mutex condition_mutex_;
   };
 }
-
-#endif
diff --git a/common/include/pcl/common/transformation_from_correspondences.h b/common/include/pcl/common/transformation_from_correspondences.h
index 8d4ca51c46e..e83c11025c9 100644
--- a/common/include/pcl/common/transformation_from_correspondences.h
+++ b/common/include/pcl/common/transformation_from_correspondences.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
-#define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
+#pragma once
 
 #include <pcl/common/eigen.h>
 
@@ -96,6 +95,3 @@ namespace pcl
 }  // END namespace
 
 #include <pcl/common/impl/transformation_from_correspondences.hpp>
-
-#endif  // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
-
diff --git a/common/include/pcl/common/transforms.h b/common/include/pcl/common/transforms.h
index b7b6bdfc20e..7d6a9dfc6b1 100644
--- a/common/include/pcl/common/transforms.h
+++ b/common/include/pcl/common/transforms.h
@@ -36,8 +36,8 @@
  *
  *
  */
-#ifndef PCL_TRANSFORMS_H_
-#define PCL_TRANSFORMS_H_
+
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -496,5 +496,3 @@ namespace pcl
 }
 
 #include <pcl/common/impl/transforms.hpp>
-
-#endif // PCL_TRANSFORMS_H_
diff --git a/common/include/pcl/common/utils.h b/common/include/pcl/common/utils.h
index 8a7ef86471a..ffc83f4fd21 100644
--- a/common/include/pcl/common/utils.h
+++ b/common/include/pcl/common/utils.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_UTILS
-#define PCL_UTILS
+#pragma once
 
 #include <limits>
 
@@ -58,5 +57,3 @@ namespace pcl
     }
   }
 }
-
-#endif
diff --git a/common/include/pcl/common/vector_average.h b/common/include/pcl/common/vector_average.h
index 3651c96c924..b7523aeb4b1 100644
--- a/common/include/pcl/common/vector_average.h
+++ b/common/include/pcl/common/vector_average.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_COMMON_VECTOR_AVERAGE_H
-#define PCL_COMMON_VECTOR_AVERAGE_H
+#pragma once
 
 #include <pcl/common/eigen.h>
 
@@ -117,6 +116,3 @@ namespace pcl
 }  // END namespace
 
 #include <pcl/common/impl/vector_average.hpp>
-
-#endif  // #ifndef PCL_VECTOR_AVERAGE_H
-
diff --git a/common/include/pcl/console/parse.h b/common/include/pcl/console/parse.h
index b9afc062dbf..79e14f456c1 100644
--- a/common/include/pcl/console/parse.h
+++ b/common/include/pcl/console/parse.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_CONSOLE_PARSE_H_
-#define PCL_CONSOLE_PARSE_H_
+
+#pragma once
 
 #include <vector>
 #include <sstream>
@@ -368,6 +368,3 @@ namespace pcl
     parse_file_extension_argument (int argc, const char * const * argv, const std::string &ext);
   }
 }
-
-#endif      // PCL_CONSOLE_PARSE_H_
-
diff --git a/common/include/pcl/conversions.h b/common/include/pcl/conversions.h
index f365d5ded7b..6e41f823c87 100644
--- a/common/include/pcl/conversions.h
+++ b/common/include/pcl/conversions.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_CONVERSIONS_H_
-#define PCL_CONVERSIONS_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -351,5 +350,3 @@ namespace pcl
     }
   }
 }
-
-#endif  //#ifndef PCL_CONVERSIONS_H_
diff --git a/common/include/pcl/correspondence.h b/common/include/pcl/correspondence.h
index ed01627d7d7..ba9312eb5a1 100644
--- a/common/include/pcl/correspondence.h
+++ b/common/include/pcl/correspondence.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_COMMON_CORRESPONDENCE_H_
-#define PCL_COMMON_CORRESPONDENCE_H_
+
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -159,5 +159,3 @@ namespace pcl
     return (pc1.distance > pc2.distance);
   }
 }
-
-#endif /* PCL_COMMON_CORRESPONDENCE_H_ */
diff --git a/common/include/pcl/exceptions.h b/common/include/pcl/exceptions.h
index 485e1e67a8a..f5d98b7e3e0 100644
--- a/common/include/pcl/exceptions.h
+++ b/common/include/pcl/exceptions.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_EXCEPTIONS_H_
-#define PCL_EXCEPTIONS_H_
+
+#pragma once
 
 #include <stdexcept>
 #include <sstream>
@@ -263,7 +263,3 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   };
 }
-
-
-
-#endif
diff --git a/common/include/pcl/for_each_type.h b/common/include/pcl/for_each_type.h
index d6973d4ad12..762d0c37b11 100644
--- a/common/include/pcl/for_each_type.h
+++ b/common/include/pcl/for_each_type.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FOR_EACH_TYPE_H_
-#define PCL_FOR_EACH_TYPE_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -105,5 +104,3 @@ namespace pcl
     typedef typename boost::mpl::remove_if<Sequence1, boost::mpl::not_<boost::mpl::contains<Sequence2, boost::mpl::_1> > >::type type; 
   }; 
 }
-
-#endif  //#ifndef PCL_FOR_EACH_TYPE_H_
diff --git a/common/include/pcl/pcl_base.h b/common/include/pcl/pcl_base.h
index 92f94720e27..3c5f2d0e81f 100644
--- a/common/include/pcl/pcl_base.h
+++ b/common/include/pcl/pcl_base.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_PCL_BASE_H_
-#define PCL_PCL_BASE_H_
+
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header
@@ -259,5 +259,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/impl/pcl_base.hpp>
 #endif
-
-#endif  //#ifndef PCL_PCL_BASE_H_
diff --git a/common/include/pcl/pcl_exports.h b/common/include/pcl/pcl_exports.h
index 708216a68a7..b92818a465b 100644
--- a/common/include/pcl/pcl_exports.h
+++ b/common/include/pcl/pcl_exports.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_EXPORTS_H_
-#define PCL_EXPORTS_H_
+#pragma once
 
 // This header is created to include to NVCC compiled sources.
 // Header 'pcl_macros' is not suitable since it includes <Eigen/Core>,
@@ -48,5 +47,3 @@
 #else
     #define PCL_EXPORTS
 #endif
-
-#endif  //#ifndef PCL_EXPORTS_H_
diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h
index 7a5f78dd12e..cd755043917 100644
--- a/common/include/pcl/pcl_macros.h
+++ b/common/include/pcl/pcl_macros.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_MACROS_H_
-#define PCL_MACROS_H_
+#pragma once
 
 #include <pcl/pcl_config.h>
 #include <boost/cstdint.hpp>
@@ -438,5 +437,3 @@ aligned_free (void* ptr)
   #error aligned_free not supported on your platform
 #endif
 }
-
-#endif  //#ifndef PCL_MACROS_H_
diff --git a/common/include/pcl/pcl_tests.h b/common/include/pcl/pcl_tests.h
index 5b378542303..5b242218dd4 100644
--- a/common/include/pcl/pcl_tests.h
+++ b/common/include/pcl/pcl_tests.h
@@ -36,9 +36,7 @@
  * $Id$
  */
 
-
-#ifndef PCL_TEST_MACROS
-#define PCL_TEST_MACROS
+#pragma once
 
 #include <Eigen/Core>
 
@@ -314,5 +312,3 @@ namespace pcl
 #define EXPECT_METADATA_EQ(expected, actual)             \
   EXPECT_PRED_FORMAT2(::pcl::test::internal::MetaDataEQ, \
                       expected, actual)
-
-#endif
diff --git a/common/include/pcl/point_cloud.h b/common/include/pcl/point_cloud.h
index aa1e8f4555f..bf4d4e71b03 100644
--- a/common/include/pcl/point_cloud.h
+++ b/common/include/pcl/point_cloud.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_POINT_CLOUD_H_
-#define PCL_POINT_CLOUD_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -629,5 +628,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_PointCloud(T) template class PCL_EXPORTS pcl::PointCloud<T>;
-
-#endif  //#ifndef PCL_POINT_CLOUD_H_
diff --git a/common/include/pcl/point_representation.h b/common/include/pcl/point_representation.h
index 4b8843d7ea7..287dca9ed26 100644
--- a/common/include/pcl/point_representation.h
+++ b/common/include/pcl/point_representation.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_POINT_REPRESENTATION_H_
-#define PCL_POINT_REPRESENTATION_H_
+
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/pcl_macros.h>
@@ -579,5 +579,3 @@ namespace pcl
       int start_dim_;
   };
 }
-
-#endif // #ifndef PCL_POINT_REPRESENTATION_H_
diff --git a/common/include/pcl/point_traits.h b/common/include/pcl/point_traits.h
index e69004316d4..d595498d649 100644
--- a/common/include/pcl/point_traits.h
+++ b/common/include/pcl/point_traits.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_POINT_TRAITS_H_
-#define PCL_POINT_TRAITS_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -353,5 +352,3 @@ namespace pcl
     value = *reinterpret_cast<const ValT*>(data_ptr);
   }
 }
-
-#endif  //#ifndef PCL_POINT_TRAITS_H_
diff --git a/common/include/pcl/point_types.h b/common/include/pcl/point_types.h
index b0c6ddfdad7..386f9bb2419 100644
--- a/common/include/pcl/point_types.h
+++ b/common/include/pcl/point_types.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_DATA_TYPES_H_
-#define PCL_DATA_TYPES_H_
+
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <bitset>
@@ -834,5 +834,3 @@ namespace pcl
   #pragma warning(default: 4201)
 #endif
 //#pragma warning(pop)
-
-#endif  //#ifndef PCL_DATA_TYPES_H_
diff --git a/common/include/pcl/point_types_conversion.h b/common/include/pcl/point_types_conversion.h
index cc561f9cf67..15d0a29865c 100644
--- a/common/include/pcl/point_types_conversion.h
+++ b/common/include/pcl/point_types_conversion.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_TYPE_CONVERSIONS_H
-#define PCL_TYPE_CONVERSIONS_H
+#pragma once
 
 #include <limits>
 
@@ -394,6 +393,3 @@ namespace pcl
     out.height = height_;
   }
 }
-
-#endif //#ifndef PCL_TYPE_CONVERSIONS_H
-
diff --git a/common/include/pcl/range_image/bearing_angle_image.h b/common/include/pcl/range_image/bearing_angle_image.h
index b022be520af..4f0c5813c12 100644
--- a/common/include/pcl/range_image/bearing_angle_image.h
+++ b/common/include/pcl/range_image/bearing_angle_image.h
@@ -39,8 +39,7 @@
   * \Created on: July 07, 2012
   */
 
-#ifndef PCL_BEARING_ANGLE_IMAGE_H_
-#define PCL_BEARING_ANGLE_IMAGE_H_
+#pragma once
 
 #include <cmath>
 #include <pcl/point_types.h>
@@ -85,5 +84,3 @@ namespace pcl
       PointXYZRGBA unobserved_point_;
   };
 }
-
-#endif // PCL_BEARING_ANGLE_IMAGE_H_
diff --git a/common/include/pcl/range_image/range_image.h b/common/include/pcl/range_image/range_image.h
index e2d1d2a6836..88f2a2e70b0 100644
--- a/common/include/pcl/range_image/range_image.h
+++ b/common/include/pcl/range_image/range_image.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RANGE_IMAGE_H_
-#define PCL_RANGE_IMAGE_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/pcl_macros.h>
@@ -840,5 +839,3 @@ namespace pcl
 
 
 #include <pcl/range_image/impl/range_image.hpp>  // Definitions of templated and inline functions
-
-#endif  //#ifndef PCL_RANGE_IMAGE_H_
diff --git a/common/include/pcl/range_image/range_image_planar.h b/common/include/pcl/range_image/range_image_planar.h
index 3d2db0c6d9f..88c1ea75213 100644
--- a/common/include/pcl/range_image/range_image_planar.h
+++ b/common/include/pcl/range_image/range_image_planar.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RANGE_IMAGE_PLANAR_H_
-#define PCL_RANGE_IMAGE_PLANAR_H_
+#pragma once
 
 #include <pcl/range_image/range_image.h>
 
@@ -215,5 +214,3 @@ namespace pcl
 
 
 #include <pcl/range_image/impl/range_image_planar.hpp>  // Definitions of templated and inline functions
-
-#endif  //#ifndef PCL_RANGE_IMAGE_H_
diff --git a/common/include/pcl/range_image/range_image_spherical.h b/common/include/pcl/range_image/range_image_spherical.h
index 82ea66373ba..f595d2e7f5b 100644
--- a/common/include/pcl/range_image/range_image_spherical.h
+++ b/common/include/pcl/range_image/range_image_spherical.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
-#define PCL_RANGE_IMAGE_SPHERICAL_H_
+#pragma once
 
 #include <pcl/range_image/range_image.h>
 
@@ -110,5 +109,3 @@ namespace pcl
 
 
 #include <pcl/range_image/impl/range_image_spherical.hpp>  // Definitions of templated and inline functions
-
-#endif  //#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
diff --git a/common/include/pcl/register_point_struct.h b/common/include/pcl/register_point_struct.h
index 57a0e42634e..349063c97b8 100644
--- a/common/include/pcl/register_point_struct.h
+++ b/common/include/pcl/register_point_struct.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTER_POINT_STRUCT_H_
-#define PCL_REGISTER_POINT_STRUCT_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header
@@ -363,5 +362,3 @@ namespace pcl
 #if defined _MSC_VER
   #pragma warning (pop)
 #endif
-
-#endif  //#ifndef PCL_REGISTER_POINT_STRUCT_H_
diff --git a/common/include/pcl/sse.h b/common/include/pcl/sse.h
index dc84aa8deb9..54a139e41c4 100644
--- a/common/include/pcl/sse.h
+++ b/common/include/pcl/sse.h
@@ -36,8 +36,8 @@
  *
  */
 
-#ifndef PCL_SSE_H_
-#define PCL_SSE_H_
+#pragma once
+
 #if defined(__SSE2__)
 #include <emmintrin.h> // SSE2:<e*.h>, SSE3:<p*.h>, SSE4:<s*.h>
 
@@ -96,4 +96,3 @@ RETi sse_cvt( const __m128 x ) { return _mm_cvttps_epi32(x); }
 #undef RETf
 #undef RETi
 #endif /* defined(__SSE2__) */
-#endif /* PCL_SSE_H_ */
diff --git a/cuda/common/include/pcl/cuda/common/eigen.h b/cuda/common/include/pcl/cuda/common/eigen.h
index f7d3c6bb83a..c28a2803743 100644
--- a/cuda/common/include/pcl/cuda/common/eigen.h
+++ b/cuda/common/include/pcl/cuda/common/eigen.h
@@ -87,8 +87,7 @@
 // ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 // DEALINGS IN THE SOFTWARE.
 
-#ifndef PCL_CUDA_EIGEN_H_
-#define PCL_CUDA_EIGEN_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 #include <pcl/cuda/cutil_math.h>
@@ -770,5 +769,3 @@ namespace pcl
   
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_EIGEN_H_
diff --git a/cuda/common/include/pcl/cuda/common/point_type_rgb.h b/cuda/common/include/pcl/cuda/common/point_type_rgb.h
index 6ab50abb772..ae606c19d09 100644
--- a/cuda/common/include/pcl/cuda/common/point_type_rgb.h
+++ b/cuda/common/include/pcl/cuda/common/point_type_rgb.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_CUDA_COMMON_POINT_TYPE_RGB_H_
-#define PCL_CUDA_COMMON_POINT_TYPE_RGB_H_
+#pragma once
 
 #include <cuda.h>
 #include <pcl/cuda/cutil_math.h>
@@ -118,5 +117,3 @@ namespace cuda
 
 } // namespace
 } // namespace
-#endif  //#ifndef PCL_CUDA_COMMON_POINT_TYPE_RGB_H_
-
diff --git a/cuda/common/include/pcl/cuda/pcl_cuda_base.h b/cuda/common/include/pcl/cuda/pcl_cuda_base.h
index 6ab94b2d368..596c1f81496 100644
--- a/cuda/common/include/pcl/cuda/pcl_cuda_base.h
+++ b/cuda/common/include/pcl/cuda/pcl_cuda_base.h
@@ -32,8 +32,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_CUDA_PCL_CUDA_BASE_H_
-#define PCL_CUDA_PCL_CUDA_BASE_H_
+
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 #include <pcl/cuda/point_cloud.h>
@@ -95,5 +95,3 @@ namespace cuda
   };
 } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_PCL_BASE_H_
diff --git a/cuda/common/include/pcl/cuda/point_cloud.h b/cuda/common/include/pcl/cuda/point_cloud.h
index e47630a9bfc..88c583de0f3 100644
--- a/cuda/common/include/pcl/cuda/point_cloud.h
+++ b/cuda/common/include/pcl/cuda/point_cloud.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_POINT_CLOUD_H_
-#define PCL_CUDA_POINT_CLOUD_H_
+#pragma once
 
 #include <pcl/cuda/point_types.h>
 #include <pcl/cuda/thrust.h>
@@ -382,5 +381,3 @@ namespace pcl
   
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_POINT_CLOUD_H_
diff --git a/cuda/common/include/pcl/cuda/point_types.h b/cuda/common/include/pcl/cuda/point_types.h
index 645fef05c15..cc6554f1f3c 100644
--- a/cuda/common/include/pcl/cuda/point_types.h
+++ b/cuda/common/include/pcl/cuda/point_types.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_POINT_TYPES_H_
-#define PCL_CUDA_POINT_TYPES_H_
+#pragma once
 
 #include <pcl/cuda/common/point_type_rgb.h>
 #include <cuda.h>
@@ -201,6 +200,3 @@ namespace cuda
   };
 } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_POINT_TYPES_H_
-
diff --git a/cuda/common/include/pcl/cuda/thrust.h b/cuda/common/include/pcl/cuda/thrust.h
index 57586abefc9..bba05d96113 100644
--- a/cuda/common/include/pcl/cuda/thrust.h
+++ b/cuda/common/include/pcl/cuda/thrust.h
@@ -37,14 +37,10 @@
  *
  */
 
-#ifndef PCL_CUDA_COMMON_THRUST_H_
-#define PCL_CUDA_COMMON_THRUST_H_
+#pragma once
 
 #include <thrust/host_vector.h>
 #include <thrust/device_vector.h>
 #include <thrust/copy.h>
 #include <thrust/device_ptr.h>
 #include <thrust/sequence.h>
-
-#endif    // PCL_CUDA_COMMON_THRUST_H_
-
diff --git a/cuda/common/include/pcl/cuda/time_cpu.h b/cuda/common/include/pcl/cuda/time_cpu.h
index be9d0b872a9..ecc67d2fb61 100644
--- a/cuda/common/include/pcl/cuda/time_cpu.h
+++ b/cuda/common/include/pcl/cuda/time_cpu.h
@@ -33,9 +33,6 @@
  *
  */
 
-#ifndef PCL_CUDA_TIME_CPU_H_
-#define PCL_CUDA_TIME_CPU_H_
-
 #include <iostream>
 #include <cmath>
 #include <string>
@@ -136,5 +133,3 @@ inline pcl::cuda::ScopeTimeCPU::~ScopeTimeCPU ()
   double duration = end_time - start_time_;
   std::cerr << title_ << " took " << 1000 * duration << "ms. " << std::endl;
 }
-
-#endif  //#ifndef PCL_NORMS_H_
diff --git a/cuda/common/include/pcl/cuda/time_gpu.h b/cuda/common/include/pcl/cuda/time_gpu.h
index b177bd3920d..73deef9a1b3 100644
--- a/cuda/common/include/pcl/cuda/time_gpu.h
+++ b/cuda/common/include/pcl/cuda/time_gpu.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_TIME_GPU_H_
-#define PCL_CUDA_TIME_GPU_H_
+#pragma once
 
 #include <cuda.h>
 #include <pcl/cuda/cutil_inline.h>
@@ -111,5 +110,3 @@ namespace pcl
     };
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_TIMER_H_
diff --git a/cuda/features/include/pcl/cuda/features/normal_3d.h b/cuda/features/include/pcl/cuda/features/normal_3d.h
index 68c41d13ace..b3da2c9b50a 100644
--- a/cuda/features/include/pcl/cuda/features/normal_3d.h
+++ b/cuda/features/include/pcl/cuda/features/normal_3d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_NORMAL_3D_H_
-#define PCL_CUDA_NORMAL_3D_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -69,7 +68,3 @@ namespace pcl
       boost::shared_ptr<typename Storage<float4>::type> computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const boost::shared_ptr <const PointCloudAOS <Storage> > &input, float radius, int desired_number_neighbors);
   } // namespace
 } // namespace
-
-#endif  
-
-
diff --git a/cuda/features/include/pcl/cuda/features/normal_3d_kernels.h b/cuda/features/include/pcl/cuda/features/normal_3d_kernels.h
index 10ce06cf31d..c1c867f0af7 100644
--- a/cuda/features/include/pcl/cuda/features/normal_3d_kernels.h
+++ b/cuda/features/include/pcl/cuda/features/normal_3d_kernels.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_NORMAL_3D_H_
-#define PCL_CUDA_NORMAL_3D_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 
@@ -200,7 +199,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif  
-
-
diff --git a/cuda/filters/include/pcl/cuda/filters/filter.h b/cuda/filters/include/pcl/cuda/filters/filter.h
index 28d21771886..f080ac71ed3 100644
--- a/cuda/filters/include/pcl/cuda/filters/filter.h
+++ b/cuda/filters/include/pcl/cuda/filters/filter.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_CUDA_FILTER_H_
-#define PCL_CUDA_FILTER_H_
+#pragma once
 
 #include <pcl_cuda/pcl_cuda_base.h>
 #include <float.h>
@@ -176,5 +175,3 @@ namespace pcl_cuda
       getClassName () const { return (filter_name_); }
   };
 }
-
-#endif  //#ifndef PCL_FILTER_H_
diff --git a/cuda/filters/include/pcl/cuda/filters/passthrough.h b/cuda/filters/include/pcl/cuda/filters/passthrough.h
index 4fcde670561..f7d375555a7 100644
--- a/cuda/filters/include/pcl/cuda/filters/passthrough.h
+++ b/cuda/filters/include/pcl/cuda/filters/passthrough.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_CUDA_FILTERS_PASSTHROUGH_H_
-#define PCL_CUDA_FILTERS_PASSTHROUGH_H_
+#pragma once
 
 #include <pcl_cuda/filters/filter.h>
 #include <thrust/count.h>
@@ -201,5 +200,3 @@ namespace pcl_cuda
       bool zip_;
   };
 }
-
-#endif  //#ifndef PCL_FILTERS_PASSTHROUGH_H_
diff --git a/cuda/filters/include/pcl/cuda/filters/voxel_grid.h b/cuda/filters/include/pcl/cuda/filters/voxel_grid.h
index 3bab1bb39eb..ba3a90d53fa 100644
--- a/cuda/filters/include/pcl/cuda/filters/voxel_grid.h
+++ b/cuda/filters/include/pcl/cuda/filters/voxel_grid.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_CUDA_FILTERS_VOXELGRID_H_
-#define PCL_CUDA_FILTERS_VOXELGRID_H_
+#pragma once
 
 #include <pcl_cuda/filters/filter.h>
 #include <pcl_cuda/filters/passthrough.h>
@@ -165,5 +164,3 @@ namespace pcl_cuda
       bool zip_;
   };
 }
-
-#endif  //#ifndef PCL_FILTERS_VOXELGRID_H_
diff --git a/cuda/io/include/pcl/cuda/io/cloud_to_pcl.h b/cuda/io/include/pcl/cuda/io/cloud_to_pcl.h
index 722300ff912..7c34e812257 100644
--- a/cuda/io/include/pcl/cuda/io/cloud_to_pcl.h
+++ b/cuda/io/include/pcl/cuda/io/cloud_to_pcl.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_CLOUD_TO_PCL_H_
-#define PCL_CUDA_CLOUD_TO_PCL_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 
@@ -71,5 +70,3 @@ namespace pcl
     fromPCL (const pcl::PointCloud<pcl::PointXYZRGB> &input, PointCloudAOS<Device> &output);
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_CLOUD_TO_PCL_H_
diff --git a/cuda/io/include/pcl/cuda/io/debayering.h b/cuda/io/include/pcl/cuda/io/debayering.h
index 979b5f4cd02..0f6feda63fe 100644
--- a/cuda/io/include/pcl/cuda/io/debayering.h
+++ b/cuda/io/include/pcl/cuda/io/debayering.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_DEBAYERING_H_
-#define PCL_CUDA_DEBAYERING_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 #include <pcl/io/openni_camera/openni_image.h>
@@ -138,5 +137,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif
diff --git a/cuda/io/include/pcl/cuda/io/disparity_to_cloud.h b/cuda/io/include/pcl/cuda/io/disparity_to_cloud.h
index ce752492d85..f999fa7db24 100644
--- a/cuda/io/include/pcl/cuda/io/disparity_to_cloud.h
+++ b/cuda/io/include/pcl/cuda/io/disparity_to_cloud.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
-#define PCL_CUDA_DISPARITY_TO_CLOUD_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 #include <pcl/cuda/io/cloud_to_pcl.h>
@@ -153,5 +152,3 @@ namespace cuda
 
 } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
diff --git a/cuda/io/include/pcl/cuda/io/extract_indices.h b/cuda/io/include/pcl/cuda/io/extract_indices.h
index ac1d988615a..f22f4eadc5f 100644
--- a/cuda/io/include/pcl/cuda/io/extract_indices.h
+++ b/cuda/io/include/pcl/cuda/io/extract_indices.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_EXTRACT_INDICES_H_
-#define PCL_CUDA_EXTRACT_INDICES_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 
@@ -81,6 +80,3 @@ namespace cuda
                     typename Storage<char4>::type &colors);
 } // namespace 
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_EXTRACT_INDICES_H_
-
diff --git a/cuda/io/include/pcl/cuda/io/host_device.h b/cuda/io/include/pcl/cuda/io/host_device.h
index 467fe14f012..85f0b2af86e 100644
--- a/cuda/io/include/pcl/cuda/io/host_device.h
+++ b/cuda/io/include/pcl/cuda/io/host_device.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_HOST_DEVICE_H_
-#define PCL_CUDA_HOST_DEVICE_H_
+#pragma once
 
 #include <pcl/cuda/point_cloud.h>
 
@@ -61,5 +60,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_HOST_DEVICE_H_
diff --git a/cuda/io/include/pcl/cuda/io/kinect_smoothing.h b/cuda/io/include/pcl/cuda/io/kinect_smoothing.h
index 6749a80ee7f..8f70ad30e9f 100644
--- a/cuda/io/include/pcl/cuda/io/kinect_smoothing.h
+++ b/cuda/io/include/pcl/cuda/io/kinect_smoothing.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_KINECT_SMOOTHING_H_
-#define PCL_CUDA_KINECT_SMOOTHING_H_
+#pragma once
 
 #include <pcl/io/openni_camera/openni_image.h>
 #include <thrust/tuple.h>
@@ -293,6 +292,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif
-
diff --git a/cuda/io/include/pcl/cuda/io/predicate.h b/cuda/io/include/pcl/cuda/io/predicate.h
index 322f4303e4e..aad8b87f3cd 100644
--- a/cuda/io/include/pcl/cuda/io/predicate.h
+++ b/cuda/io/include/pcl/cuda/io/predicate.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_PREDICATE_H_
-#define PCL_CUDA_PREDICATE_H_
+#pragma once
 
 //#if THRUST_DEVICE_COMPILER == THRUST_DEVICE_COMPILER_NVCC
 //#undef __MMX__
@@ -91,7 +90,3 @@ namespace cuda
 
 } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_PREDICATE_H_
-
-
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/msac.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/msac.h
index 953769a705a..3a4af5cbfe7 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/msac.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/msac.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
+#pragma once
 
 #include <pcl_cuda/sample_consensus/sac.h>
 #include <pcl_cuda/sample_consensus/sac_model.h>
@@ -92,6 +91,3 @@ namespace pcl_cuda
       computeModel (int debug_verbosity_level = 0);
   };
 }
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
-
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/multi_ransac.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/multi_ransac.h
index c038fed2558..fe143b284be 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/multi_ransac.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/multi_ransac.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
+#pragma once
 
 #include <pcl/cuda/sample_consensus/sac.h>
 #include <pcl/cuda/sample_consensus/sac_model.h>
@@ -175,6 +174,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
-
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h
index fa89eb9ed0a..7d20fe88faa 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
+#pragma once
 
 #include <pcl/cuda/sample_consensus/sac.h>
 #include <pcl/cuda/sample_consensus/sac_model.h>
@@ -101,6 +100,3 @@ namespace pcl
     };
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_RANSAC_H_
-
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h
index a6e4ed7aa08..d94024a7fb3 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_H_
+#pragma once
 
 #include <pcl/cuda/sample_consensus/sac_model.h>
 #include <pcl/cuda/point_cloud.h>
@@ -197,5 +196,3 @@ namespace pcl
     };
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h
index 2ca6c5e4fd1..a79a41bed10 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_
+#pragma once
 
 #include <float.h>
 #include <thrust/sequence.h>
@@ -419,5 +418,3 @@ namespace pcl
   //  };
   } // namespace_
 } // namespace_
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h
index 7d2680fb7ab..8a1a6fa5df9 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_1POINT_PLANE_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_MODEL_1POINT_PLANE_H_
+#pragma once
 
 #include <pcl/cuda/sample_consensus/sac_model.h>
 #include <thrust/random.h>
@@ -314,5 +313,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_PLANE_H_
diff --git a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h
index bd2f77d7e77..38ff5121092 100644
--- a/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h
+++ b/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_PLANE_H_
-#define PCL_CUDA_SAMPLE_CONSENSUS_MODEL_PLANE_H_
+#pragma once
 
 #include <pcl/cuda/sample_consensus/sac_model.h>
 
@@ -271,5 +270,3 @@ namespace pcl
 
   } // namespace
 } // namespace
-
-#endif  //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_PLANE_H_
diff --git a/features/include/pcl/features/3dsc.h b/features/include/pcl/features/3dsc.h
index c9fcde4535d..7fb08c03d2c 100644
--- a/features/include/pcl/features/3dsc.h
+++ b/features/include/pcl/features/3dsc.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_3DSC_H_
-#define PCL_FEATURES_3DSC_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/boost.h>
@@ -238,5 +237,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/3dsc.hpp>
 #endif
-
-#endif  //#ifndef PCL_3DSC_H_
diff --git a/features/include/pcl/features/board.h b/features/include/pcl/features/board.h
index a9e1b4961ca..826996907de 100644
--- a/features/include/pcl/features/board.h
+++ b/features/include/pcl/features/board.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_BOARD_H_
-#define PCL_BOARD_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -365,5 +364,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/board.hpp>
 #endif
-
-#endif  //#ifndef PCL_BOARD_H_
diff --git a/features/include/pcl/features/boost.h b/features/include/pcl/features/boost.h
index 1ff472084e8..de8005034cf 100644
--- a/features/include/pcl/features/boost.h
+++ b/features/include/pcl/features/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_BOOST_H_
-#define PCL_FEATURES_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -51,5 +50,3 @@
 #include <boost/property_map/property_map.hpp>
 //#include <boost/graph/adjacency_list.hpp>
 //#include <boost/graph/johnson_all_pairs_shortest.hpp>
-
-#endif    // PCL_FEATURES_BOOST_H_
diff --git a/features/include/pcl/features/boundary.h b/features/include/pcl/features/boundary.h
index 10fb3fedf55..fb33fdb235d 100644
--- a/features/include/pcl/features/boundary.h
+++ b/features/include/pcl/features/boundary.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_BOUNDARY_H_
-#define PCL_BOUNDARY_H_
+#pragma once
 
 #include <pcl/features/eigen.h>
 #include <pcl/features/feature.h>
@@ -183,5 +182,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/boundary.hpp>
 #endif
-
-#endif  //#ifndef PCL_BOUNDARY_H_
diff --git a/features/include/pcl/features/brisk_2d.h b/features/include/pcl/features/brisk_2d.h
index a58c24e5556..b2b7edea58c 100644
--- a/features/include/pcl/features/brisk_2d.h
+++ b/features/include/pcl/features/brisk_2d.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_BRISK_2D_H_
-#define PCL_FEATURES_BRISK_2D_H_
+#pragma once
 
 // PCL includes
 #include <pcl/features/feature.h>
@@ -262,5 +261,3 @@ namespace pcl
 }
 
 #include <pcl/features/impl/brisk_2d.hpp>
-
-#endif  //#ifndef PCL_FEATURES_BRISK_2D_H_
diff --git a/features/include/pcl/features/cppf.h b/features/include/pcl/features/cppf.h
index 4f44aaf2bc0..930f11fb691 100755
--- a/features/include/pcl/features/cppf.h
+++ b/features/include/pcl/features/cppf.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_CPPF_H_
-#define PCL_CPPF_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/boost.h>
@@ -116,5 +115,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/cppf.hpp>
 #endif
-
-#endif // PCL_CPPF_H_
diff --git a/features/include/pcl/features/crh.h b/features/include/pcl/features/crh.h
index 8feebe0e38d..81859a35727 100644
--- a/features/include/pcl/features/crh.h
+++ b/features/include/pcl/features/crh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_CRH_H_
-#define PCL_FEATURES_CRH_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -141,5 +140,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/crh.hpp>
 #endif
-
-#endif  //#ifndef PCL_FEATURES_CRH_H_
diff --git a/features/include/pcl/features/cvfh.h b/features/include/pcl/features/cvfh.h
index 2ed5738ae6e..317fcbe34b7 100644
--- a/features/include/pcl/features/cvfh.h
+++ b/features/include/pcl/features/cvfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_CVFH_H_
-#define PCL_FEATURES_CVFH_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/vfh.h>
@@ -289,5 +288,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/cvfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_FEATURES_CVFH_H_
diff --git a/features/include/pcl/features/don.h b/features/include/pcl/features/don.h
index 4ebdd7b243c..08dcd5b3213 100644
--- a/features/include/pcl/features/don.h
+++ b/features/include/pcl/features/don.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_FILTERS_DON_H_
-#define PCL_FILTERS_DON_H_
+
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -141,5 +141,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/don.hpp>
 #endif
-
-#endif // PCL_FILTERS_DON_H_
diff --git a/features/include/pcl/features/eigen.h b/features/include/pcl/features/eigen.h
index bde61949c80..3fcbb2784f1 100644
--- a/features/include/pcl/features/eigen.h
+++ b/features/include/pcl/features/eigen.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_EIGEN_H_
-#define PCL_FEATURES_EIGEN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -46,5 +45,3 @@
 
 #include <Eigen/StdVector>
 #include <Eigen/Geometry>
-
-#endif    // PCL_FEATURES_EIGEN_H_
diff --git a/features/include/pcl/features/esf.h b/features/include/pcl/features/esf.h
index 8a840fa7317..469445514b9 100644
--- a/features/include/pcl/features/esf.h
+++ b/features/include/pcl/features/esf.h
@@ -37,8 +37,8 @@
  * $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
  *
  */
-#ifndef PCL_ESF_H_
-#define PCL_ESF_H_
+
+#pragma once
 
 #include <pcl/features/feature.h>
 #define GRIDSIZE 64
@@ -139,5 +139,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/esf.hpp>
 #endif
-
-#endif // #
diff --git a/features/include/pcl/features/feature.h b/features/include/pcl/features/feature.h
index b0bcec04968..8b887f67650 100644
--- a/features/include/pcl/features/feature.h
+++ b/features/include/pcl/features/feature.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURE_H_
-#define PCL_FEATURE_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -496,5 +495,3 @@ namespace pcl
 }
 
 #include <pcl/features/impl/feature.hpp>
-
-#endif  //#ifndef PCL_FEATURE_H_
diff --git a/features/include/pcl/features/flare.h b/features/include/pcl/features/flare.h
index 45948b5fe7d..21e4f47087e 100644
--- a/features/include/pcl/features/flare.h
+++ b/features/include/pcl/features/flare.h
@@ -36,8 +36,7 @@
 *
 */
 
-#ifndef PCL_FLARE_H_
-#define PCL_FLARE_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -289,5 +288,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/flare.hpp>
 #endif
-
-#endif  //#ifndef PCL_FLARE_H_
diff --git a/features/include/pcl/features/fpfh.h b/features/include/pcl/features/fpfh.h
index b53103bf33c..fed0e37d5fa 100644
--- a/features/include/pcl/features/fpfh.h
+++ b/features/include/pcl/features/fpfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FPFH_H_
-#define PCL_FPFH_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <set>
@@ -222,5 +221,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/fpfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_FPFH_H_
diff --git a/features/include/pcl/features/fpfh_omp.h b/features/include/pcl/features/fpfh_omp.h
index 5a8d779248a..3b7dff0a7d5 100644
--- a/features/include/pcl/features/fpfh_omp.h
+++ b/features/include/pcl/features/fpfh_omp.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FPFH_OMP_H_
-#define PCL_FPFH_OMP_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/fpfh.h>
@@ -129,5 +128,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/fpfh_omp.hpp>
 #endif
-
-#endif  //#ifndef PCL_FPFH_OMP_H_
diff --git a/features/include/pcl/features/from_meshes.h b/features/include/pcl/features/from_meshes.h
index f938e66f97c..675e29a0668 100644
--- a/features/include/pcl/features/from_meshes.h
+++ b/features/include/pcl/features/from_meshes.h
@@ -1,5 +1,4 @@
-#ifndef PCL_FEATURES_FROM_MESHES_H_
-#define PCL_FEATURES_FROM_MESHES_H_
+#pragma once
 
 #include "pcl/features/normal_3d.h"
 #include "pcl/Vertices.h"
@@ -99,8 +98,3 @@ namespace pcl
 
   }
 }
-
-
-#endif // PCL_FEATURES_FROM_MESHES_H_
-
-
diff --git a/features/include/pcl/features/gasd.h b/features/include/pcl/features/gasd.h
index a6f3d9c74b7..be0b9a24848 100644
--- a/features/include/pcl/features/gasd.h
+++ b/features/include/pcl/features/gasd.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_GASD_H_
-#define PCL_FEATURES_GASD_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/common/common.h>
@@ -362,5 +361,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/gasd.hpp>
 #endif
-
-#endif  //#ifndef PCL_FEATURES_GASD_H_
diff --git a/features/include/pcl/features/gfpfh.h b/features/include/pcl/features/gfpfh.h
index 9eaa40b3be4..05919d3c806 100644
--- a/features/include/pcl/features/gfpfh.h
+++ b/features/include/pcl/features/gfpfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GFPFH_H_
-#define PCL_GFPFH_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -175,5 +174,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/gfpfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_GFPFH_H_
diff --git a/features/include/pcl/features/grsd.h b/features/include/pcl/features/grsd.h
index 7aeeda528d0..b39a6d9c103 100644
--- a/features/include/pcl/features/grsd.h
+++ b/features/include/pcl/features/grsd.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_GRSD_H_
-#define PCL_FEATURES_GRSD_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/rsd.h>
@@ -147,5 +146,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/grsd.hpp>
 #endif
-
-#endif /* PCL_FEATURES_GRSD_H_ */
diff --git a/features/include/pcl/features/integral_image2D.h b/features/include/pcl/features/integral_image2D.h
index 33a3f10e76c..a9815430c36 100644
--- a/features/include/pcl/features/integral_image2D.h
+++ b/features/include/pcl/features/integral_image2D.h
@@ -37,8 +37,7 @@
  * $Id: feature.h 2784 2011-10-15 22:05:38Z aichim $
  */
 
-#ifndef PCL_INTEGRAL_IMAGE2D_H_
-#define PCL_INTEGRAL_IMAGE2D_H_
+#pragma once
 
 #include <vector>
 
@@ -341,6 +340,3 @@ namespace pcl
  }
 
 #include <pcl/features/impl/integral_image2D.hpp>
-
-#endif    // PCL_INTEGRAL_IMAGE2D_H_
-
diff --git a/features/include/pcl/features/integral_image_normal.h b/features/include/pcl/features/integral_image_normal.h
index 4404f29f726..f588db3f726 100644
--- a/features/include/pcl/features/integral_image_normal.h
+++ b/features/include/pcl/features/integral_image_normal.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_
-#define PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -478,6 +477,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/integral_image_normal.hpp>
 #endif
-
-#endif
-
diff --git a/features/include/pcl/features/intensity_gradient.h b/features/include/pcl/features/intensity_gradient.h
index 7f14ea8e033..2219f185180 100644
--- a/features/include/pcl/features/intensity_gradient.h
+++ b/features/include/pcl/features/intensity_gradient.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_INTENSITY_GRADIENT_H_
-#define PCL_INTENSITY_GRADIENT_H_
+
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/common/intensity.h>
@@ -115,5 +115,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/intensity_gradient.hpp>
 #endif
-
-#endif // #ifndef PCL_INTENSITY_GRADIENT_H_
diff --git a/features/include/pcl/features/intensity_spin.h b/features/include/pcl/features/intensity_spin.h
index 715db9e5f19..0846342062d 100644
--- a/features/include/pcl/features/intensity_spin.h
+++ b/features/include/pcl/features/intensity_spin.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_INTENSITY_SPIN_H_
-#define PCL_INTENSITY_SPIN_H_
+
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -149,4 +149,6 @@ namespace pcl
 #include <pcl/features/impl/intensity_spin.hpp>
 #endif
 
-#endif // #ifndef PCL_INTENSITY_SPIN_H_
+
+
+
diff --git a/features/include/pcl/features/linear_least_squares_normal.h b/features/include/pcl/features/linear_least_squares_normal.h
index dbe5ca26503..4cb314b12a1 100644
--- a/features/include/pcl/features/linear_least_squares_normal.h
+++ b/features/include/pcl/features/linear_least_squares_normal.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_
-#define PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -147,6 +146,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/linear_least_squares_normal.hpp>
 #endif
-
-#endif 
-
diff --git a/features/include/pcl/features/moment_invariants.h b/features/include/pcl/features/moment_invariants.h
index 8edd073750e..ed9057de4d3 100644
--- a/features/include/pcl/features/moment_invariants.h
+++ b/features/include/pcl/features/moment_invariants.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_MOMENT_INVARIANTS_H_
-#define PCL_MOMENT_INVARIANTS_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -116,5 +115,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/moment_invariants.hpp>
 #endif
-
-#endif  //#ifndef PCL_MOMENT_INVARIANTS_H_
diff --git a/features/include/pcl/features/moment_of_inertia_estimation.h b/features/include/pcl/features/moment_of_inertia_estimation.h
index e36c1286b7f..6a5c7a43c09 100644
--- a/features/include/pcl/features/moment_of_inertia_estimation.h
+++ b/features/include/pcl/features/moment_of_inertia_estimation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_MOMENT_OF_INERTIA_ESIMATION_H_
-#define PCL_MOMENT_OF_INERTIA_ESIMATION_H_
+#pragma once
 
 #include <vector>
 #include <math.h>
@@ -358,5 +357,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/moment_of_inertia_estimation.hpp>
 #endif
-
-#endif
diff --git a/features/include/pcl/features/multiscale_feature_persistence.h b/features/include/pcl/features/multiscale_feature_persistence.h
index 0beea6b5608..8aa95255e8f 100644
--- a/features/include/pcl/features/multiscale_feature_persistence.h
+++ b/features/include/pcl/features/multiscale_feature_persistence.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_MULTISCALE_FEATURE_PERSISTENCE_H_
-#define PCL_MULTISCALE_FEATURE_PERSISTENCE_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/features/feature.h>
@@ -205,5 +204,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/multiscale_feature_persistence.hpp>
 #endif
-
-#endif /* PCL_MULTISCALE_FEATURE_PERSISTENCE_H_ */
diff --git a/features/include/pcl/features/narf.h b/features/include/pcl/features/narf.h
index 335c44fdf93..e3955d4ddef 100644
--- a/features/include/pcl/features/narf.h
+++ b/features/include/pcl/features/narf.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_NARF_H_
-#define PCL_NARF_H_
+#pragma once
 
 #include <pcl/features/eigen.h>
 #include <pcl/common/common_headers.h>
@@ -289,5 +288,3 @@ namespace pcl
 }  // end namespace pcl
 
 #include <pcl/features/impl/narf.hpp>
-
-#endif  //#ifndef PCL_NARF_H_
diff --git a/features/include/pcl/features/narf_descriptor.h b/features/include/pcl/features/narf_descriptor.h
index 7c9ebd4eb7a..4d90770eefd 100644
--- a/features/include/pcl/features/narf_descriptor.h
+++ b/features/include/pcl/features/narf_descriptor.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_NARF_DESCRIPTOR_H_
-#define PCL_NARF_DESCRIPTOR_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -107,5 +106,3 @@ namespace pcl
 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
 #pragma GCC diagnostic warning "-Weffc++"
 #endif
-
-#endif  //#ifndef PCL_NARF_DESCRIPTOR_H_
diff --git a/features/include/pcl/features/normal_3d.h b/features/include/pcl/features/normal_3d.h
index 8512d3951da..b14feafc794 100644
--- a/features/include/pcl/features/normal_3d.h
+++ b/features/include/pcl/features/normal_3d.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_NORMAL_3D_H_
-#define PCL_NORMAL_3D_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/common/centroid.h>
@@ -423,6 +422,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/normal_3d.hpp>
 #endif
-
-#endif  //#ifndef PCL_NORMAL_3D_H_
-
diff --git a/features/include/pcl/features/normal_3d_omp.h b/features/include/pcl/features/normal_3d_omp.h
index 66256991407..ee8844f8be8 100644
--- a/features/include/pcl/features/normal_3d_omp.h
+++ b/features/include/pcl/features/normal_3d_omp.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_NORMAL_3D_OMP_H_
-#define PCL_NORMAL_3D_OMP_H_
+#pragma once
 
 #include <pcl/features/normal_3d.h>
 
@@ -104,5 +103,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/normal_3d_omp.hpp>
 #endif
-
-#endif  //#ifndef PCL_NORMAL_3D_OMP_H_
diff --git a/features/include/pcl/features/normal_based_signature.h b/features/include/pcl/features/normal_based_signature.h
index f5773dfe35d..3296732120e 100644
--- a/features/include/pcl/features/normal_based_signature.h
+++ b/features/include/pcl/features/normal_based_signature.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_NORMAL_BASED_SIGNATURE_H_
-#define PCL_NORMAL_BASED_SIGNATURE_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -161,5 +160,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/normal_based_signature.hpp>
 #endif
-
-#endif /* PCL_NORMAL_BASED_SIGNATURE_H_ */
diff --git a/features/include/pcl/features/organized_edge_detection.h b/features/include/pcl/features/organized_edge_detection.h
index b27ed07db0c..d57f6d90b8a 100644
--- a/features/include/pcl/features/organized_edge_detection.h
+++ b/features/include/pcl/features/organized_edge_detection.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_
-#define PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/PointIndices.h>
@@ -428,5 +427,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/organized_edge_detection.hpp>
 #endif
-
-#endif //#ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_
diff --git a/features/include/pcl/features/our_cvfh.h b/features/include/pcl/features/our_cvfh.h
index 60ef67a3aad..515b85531a1 100644
--- a/features/include/pcl/features/our_cvfh.h
+++ b/features/include/pcl/features/our_cvfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_OURCVFH_H_
-#define PCL_FEATURES_OURCVFH_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/search/pcl_search.h>
@@ -408,5 +407,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/our_cvfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_FEATURES_VFH_H_
diff --git a/features/include/pcl/features/pfh.h b/features/include/pcl/features/pfh.h
index fa1355c9057..d2babc56ce7 100644
--- a/features/include/pcl/features/pfh.h
+++ b/features/include/pcl/features/pfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_PFH_H_
-#define PCL_PFH_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -224,6 +223,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/pfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_PFH_H_
-
diff --git a/features/include/pcl/features/pfh_tools.h b/features/include/pcl/features/pfh_tools.h
index 24dc2fdbb76..d647f3412c1 100644
--- a/features/include/pcl/features/pfh_tools.h
+++ b/features/include/pcl/features/pfh_tools.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_PFH_TOOLS_H_
-#define PCL_FEATURES_PFH_TOOLS_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -74,6 +73,3 @@ namespace pcl
                           float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
 
 }
-
-#endif  //#ifndef PCL_FEATURES_PFH_TOOLS_H_
-
diff --git a/features/include/pcl/features/pfhrgb.h b/features/include/pcl/features/pfhrgb.h
index 0222bcca564..2ec795a961e 100644
--- a/features/include/pcl/features/pfhrgb.h
+++ b/features/include/pcl/features/pfhrgb.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_PFHRGB_H_
-#define PCL_PFHRGB_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/pfh_tools.h>
@@ -100,5 +99,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/pfhrgb.hpp>
 #endif
-
-#endif /* PCL_PFHRGB_H_ */
diff --git a/features/include/pcl/features/ppf.h b/features/include/pcl/features/ppf.h
index fb898c24720..1c653f8b1a4 100644
--- a/features/include/pcl/features/ppf.h
+++ b/features/include/pcl/features/ppf.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_PPF_H_
-#define PCL_PPF_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/boost.h>
@@ -105,5 +104,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/ppf.hpp>
 #endif
-
-#endif // PCL_PPF_H_
diff --git a/features/include/pcl/features/ppfrgb.h b/features/include/pcl/features/ppfrgb.h
index 34f59be0e81..6c541ff4bd7 100644
--- a/features/include/pcl/features/ppfrgb.h
+++ b/features/include/pcl/features/ppfrgb.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_PPFRGB_H_
-#define PCL_PPFRGB_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 #include <pcl/features/boost.h>
@@ -96,5 +95,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/ppfrgb.hpp>
 #endif
-
-#endif // PCL_PPFRGB_H_
diff --git a/features/include/pcl/features/principal_curvatures.h b/features/include/pcl/features/principal_curvatures.h
index 8f682039786..eb347cd9c26 100644
--- a/features/include/pcl/features/principal_curvatures.h
+++ b/features/include/pcl/features/principal_curvatures.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_PRINCIPAL_CURVATURES_H_
-#define PCL_PRINCIPAL_CURVATURES_H_
+#pragma once
 
 #include <pcl/features/eigen.h>
 #include <pcl/features/feature.h>
@@ -137,5 +136,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/principal_curvatures.hpp>
 #endif
-
-#endif  //#ifndef PCL_PRINCIPAL_CURVATURES_H_
diff --git a/features/include/pcl/features/range_image_border_extractor.h b/features/include/pcl/features/range_image_border_extractor.h
index 9f55cb7946c..35d03f763bf 100644
--- a/features/include/pcl/features/range_image_border_extractor.h
+++ b/features/include/pcl/features/range_image_border_extractor.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_
-#define PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -359,5 +358,3 @@ namespace pcl
 #endif
 
 #include <pcl/features/impl/range_image_border_extractor.hpp>  // Definitions of templated and inline functions
-
-#endif  //#ifndef PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_
diff --git a/features/include/pcl/features/rift.h b/features/include/pcl/features/rift.h
index f21f09cb6d5..d0409d6d234 100644
--- a/features/include/pcl/features/rift.h
+++ b/features/include/pcl/features/rift.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_RIFT_H_
-#define PCL_RIFT_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -155,5 +154,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/rift.hpp>
 #endif
-
-#endif // #ifndef PCL_RIFT_H_
diff --git a/features/include/pcl/features/rops_estimation.h b/features/include/pcl/features/rops_estimation.h
index 8e6a8a56807..6ba5dffa5c6 100644
--- a/features/include/pcl/features/rops_estimation.h
+++ b/features/include/pcl/features/rops_estimation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_ROPS_ESIMATION_H_
-#define PCL_ROPS_ESIMATION_H_
+#pragma once
 
 #include <pcl/PolygonMesh.h>
 #include <pcl/features/feature.h>
@@ -232,5 +231,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/rops_estimation.hpp>
 #endif
-
-#endif
diff --git a/features/include/pcl/features/rsd.h b/features/include/pcl/features/rsd.h
index 3d648c0a8ae..c297e2e7fdc 100644
--- a/features/include/pcl/features/rsd.h
+++ b/features/include/pcl/features/rsd.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_RSD_H_
-#define PCL_RSD_H_
+#pragma once
 
 #include <pcl/features/feature.h>
 
@@ -234,5 +233,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/rsd.hpp>
 #endif
-
-#endif  //#ifndef PCL_RSD_H_
diff --git a/features/include/pcl/features/shot.h b/features/include/pcl/features/shot.h
index 91caa748588..b376013dc48 100644
--- a/features/include/pcl/features/shot.h
+++ b/features/include/pcl/features/shot.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SHOT_H_
-#define PCL_SHOT_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -409,5 +408,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/shot.hpp>
 #endif
-
-#endif  //#ifndef PCL_SHOT_H_
diff --git a/features/include/pcl/features/shot_lrf.h b/features/include/pcl/features/shot_lrf.h
index ecc1f2cedc6..28768200732 100644
--- a/features/include/pcl/features/shot_lrf.h
+++ b/features/include/pcl/features/shot_lrf.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_FEATURES_SHOT_LRF_H_
-#define PCL_FEATURES_SHOT_LRF_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -108,6 +107,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/shot_lrf.hpp>
 #endif
-
-#endif    // PCL_FEATURES_SHOT_LRF_H_
-
diff --git a/features/include/pcl/features/shot_lrf_omp.h b/features/include/pcl/features/shot_lrf_omp.h
index 1b6a03582fb..ea1782cd777 100644
--- a/features/include/pcl/features/shot_lrf_omp.h
+++ b/features/include/pcl/features/shot_lrf_omp.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_FEATURES_SHOT_LRF_OMP_H_
-#define PCL_FEATURES_SHOT_LRF_OMP_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -114,6 +113,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/shot_lrf_omp.hpp>
 #endif
-
-#endif    // PCL_FEATURES_SHOT_LRF_H_
-
diff --git a/features/include/pcl/features/shot_omp.h b/features/include/pcl/features/shot_omp.h
index 97b999bee80..e690c26932f 100644
--- a/features/include/pcl/features/shot_omp.h
+++ b/features/include/pcl/features/shot_omp.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SHOT_OMP_H_
-#define PCL_SHOT_OMP_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -215,5 +214,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/shot_omp.hpp>
 #endif
-
-#endif  //#ifndef PCL_SHOT_OMP_H_
diff --git a/features/include/pcl/features/spin_image.h b/features/include/pcl/features/spin_image.h
index abf4703a239..1ae890306ff 100644
--- a/features/include/pcl/features/spin_image.h
+++ b/features/include/pcl/features/spin_image.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_SPIN_IMAGE_H_
-#define PCL_SPIN_IMAGE_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -283,6 +282,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/spin_image.hpp>
 #endif
-
-#endif  //#ifndef PCL_SPIN_IMAGE_H_
-
diff --git a/features/include/pcl/features/usc.h b/features/include/pcl/features/usc.h
index de096b32b58..7a510bcadbd 100644
--- a/features/include/pcl/features/usc.h
+++ b/features/include/pcl/features/usc.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_USC_H_
-#define PCL_FEATURES_USC_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -193,5 +192,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/usc.hpp>
 #endif
-
-#endif  //#ifndef PCL_USC_H_
diff --git a/features/include/pcl/features/vfh.h b/features/include/pcl/features/vfh.h
index ec7501e2763..b1a5fe15914 100644
--- a/features/include/pcl/features/vfh.h
+++ b/features/include/pcl/features/vfh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_VFH_H_
-#define PCL_FEATURES_VFH_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/features/feature.h>
@@ -272,5 +271,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/features/impl/vfh.hpp>
 #endif
-
-#endif  //#ifndef PCL_FEATURES_VFH_H_
diff --git a/filters/include/pcl/filters/approximate_voxel_grid.h b/filters/include/pcl/filters/approximate_voxel_grid.h
index 06210ac46cc..7789db2a87e 100644
--- a/filters/include/pcl/filters/approximate_voxel_grid.h
+++ b/filters/include/pcl/filters/approximate_voxel_grid.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_
-#define PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_
+#pragma once
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/filter.h>
@@ -246,5 +245,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/approximate_voxel_grid.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_
diff --git a/filters/include/pcl/filters/bilateral.h b/filters/include/pcl/filters/bilateral.h
index 9341d783267..304cc51e85e 100644
--- a/filters/include/pcl/filters/bilateral.h
+++ b/filters/include/pcl/filters/bilateral.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_BILATERAL_H_
-#define PCL_FILTERS_BILATERAL_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 #include <pcl/search/pcl_search.h>
@@ -146,5 +145,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/bilateral.hpp>
 #endif
-
-#endif // PCL_FILTERS_BILATERAL_H_
diff --git a/filters/include/pcl/filters/boost.h b/filters/include/pcl/filters/boost.h
index 47c274a1a8e..b7feccf8fb2 100644
--- a/filters/include/pcl/filters/boost.h
+++ b/filters/include/pcl/filters/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_BOOST_H_
-#define PCL_FILTERS_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -57,5 +56,3 @@
 #include <boost/bind.hpp>
 #include <boost/function.hpp>
 #include <boost/optional.hpp>
-
-#endif    // PCL_FILTERS_BOOST_H_
diff --git a/filters/include/pcl/filters/box_clipper3D.h b/filters/include/pcl/filters/box_clipper3D.h
index 7e50ab38c51..e8104470015 100644
--- a/filters/include/pcl/filters/box_clipper3D.h
+++ b/filters/include/pcl/filters/box_clipper3D.h
@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_BOX_CLIPPER3D_H_
-#define PCL_BOX_CLIPPER3D_H_
+#pragma once
+
 #include "clipper3D.h"
 
 namespace pcl
@@ -123,5 +123,3 @@ namespace pcl
 }
 
 #include <pcl/filters/impl/box_clipper3D.hpp>
-
-#endif // PCL_BOX_CLIPPER3D_H_
diff --git a/filters/include/pcl/filters/clipper3D.h b/filters/include/pcl/filters/clipper3D.h
index 5aa7a29e8fd..befdbafe5aa 100644
--- a/filters/include/pcl/filters/clipper3D.h
+++ b/filters/include/pcl/filters/clipper3D.h
@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_CLIPPER3D_H_
-#define PCL_CLIPPER3D_H_
+#pragma once
+
 #include <pcl/point_cloud.h>
 #include <vector>
 #include <Eigen/StdVector>
@@ -112,5 +112,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif // PCL_CLIPPER3D_H_
diff --git a/filters/include/pcl/filters/conditional_removal.h b/filters/include/pcl/filters/conditional_removal.h
index 3e3f326320e..6a73fb9f8e0 100644
--- a/filters/include/pcl/filters/conditional_removal.h
+++ b/filters/include/pcl/filters/conditional_removal.h
@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_FILTER_FIELD_VAL_CONDITION_H_
-#define PCL_FILTER_FIELD_VAL_CONDITION_H_
+#pragma once
+
 #include <pcl/common/eigen.h>
 #include <pcl/filters/filter.h>
 
@@ -690,5 +690,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/conditional_removal.hpp>
 #endif
-
-#endif 
diff --git a/filters/include/pcl/filters/convolution.h b/filters/include/pcl/filters/convolution.h
index b5120d7e719..fcc63195d66 100644
--- a/filters/include/pcl/filters/convolution.h
+++ b/filters/include/pcl/filters/convolution.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_CONVOLUTION_H_
-#define PCL_FILTERS_CONVOLUTION_H_
+#pragma once
 
 #include <pcl/common/eigen.h>
 #include <pcl/common/point_operators.h>
@@ -235,5 +234,3 @@ namespace pcl
 }
 
 #include <pcl/filters/impl/convolution.hpp>
-
-#endif
diff --git a/filters/include/pcl/filters/convolution_3d.h b/filters/include/pcl/filters/convolution_3d.h
index ccf4d7abdb4..6147e79e50f 100644
--- a/filters/include/pcl/filters/convolution_3d.h
+++ b/filters/include/pcl/filters/convolution_3d.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_CONVOLUTION_3D_H
-#define PCL_FILTERS_CONVOLUTION_3D_H
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/filters/boost.h>
@@ -288,5 +287,3 @@ namespace pcl
 }
 
 #include <pcl/filters/impl/convolution_3d.hpp>
-
-#endif // PCL_FILTERS_CONVOLUTION_3D_H
diff --git a/filters/include/pcl/filters/covariance_sampling.h b/filters/include/pcl/filters/covariance_sampling.h
index fc3151235ed..69f6c3038c0 100644
--- a/filters/include/pcl/filters/covariance_sampling.h
+++ b/filters/include/pcl/filters/covariance_sampling.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_FILTERS_COVARIANCE_SAMPLING_H_
-#define PCL_FILTERS_COVARIANCE_SAMPLING_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 
@@ -167,6 +165,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/covariance_sampling.hpp>
 #endif
-
-
-#endif /* PCL_FILTERS_COVARIANCE_SAMPLING_H_ */
diff --git a/filters/include/pcl/filters/crop_box.h b/filters/include/pcl/filters/crop_box.h
index cfec365bd55..3d8f6655b0e 100644
--- a/filters/include/pcl/filters/crop_box.h
+++ b/filters/include/pcl/filters/crop_box.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_CROP_BOX_H_
-#define PCL_FILTERS_CROP_BOX_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/filters/filter_indices.h>
@@ -344,5 +343,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/crop_box.hpp>
 #endif
-
-#endif  // PCL_FILTERS_CROP_BOX_H_
diff --git a/filters/include/pcl/filters/crop_hull.h b/filters/include/pcl/filters/crop_hull.h
index 7cd60a031cc..0931a2884d9 100644
--- a/filters/include/pcl/filters/crop_hull.h
+++ b/filters/include/pcl/filters/crop_hull.h
@@ -35,8 +35,7 @@
   *
   */
 
-#ifndef PCL_FILTERS_CROP_HULL_H_
-#define PCL_FILTERS_CROP_HULL_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/Vertices.h>
@@ -239,5 +238,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/crop_hull.hpp>
 #endif
-
-#endif // ifndef PCL_FILTERS_CROP_HULL_H_
diff --git a/filters/include/pcl/filters/extract_indices.h b/filters/include/pcl/filters/extract_indices.h
index dbadbcd1c47..f5bbc765777 100644
--- a/filters/include/pcl/filters/extract_indices.h
+++ b/filters/include/pcl/filters/extract_indices.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_EXTRACT_INDICES_H_
-#define PCL_FILTERS_EXTRACT_INDICES_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 
@@ -199,6 +198,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/extract_indices.hpp>
 #endif
-
-#endif  // PCL_FILTERS_EXTRACT_INDICES_H_
-
diff --git a/filters/include/pcl/filters/fast_bilateral.h b/filters/include/pcl/filters/fast_bilateral.h
index e6bdf8046c1..67d98d5b3df 100644
--- a/filters/include/pcl/filters/fast_bilateral.h
+++ b/filters/include/pcl/filters/fast_bilateral.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_FILTERS_FAST_BILATERAL_H_
-#define PCL_FILTERS_FAST_BILATERAL_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 
@@ -194,6 +192,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_FastBilateralFilter(T) template class PCL_EXPORTS pcl::FastBilateralFilter<T>;
 #endif
-
-
-#endif /* PCL_FILTERS_FAST_BILATERAL_H_ */
diff --git a/filters/include/pcl/filters/fast_bilateral_omp.h b/filters/include/pcl/filters/fast_bilateral_omp.h
index dc9b6194228..9dbdca39eb5 100644
--- a/filters/include/pcl/filters/fast_bilateral_omp.h
+++ b/filters/include/pcl/filters/fast_bilateral_omp.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_FILTERS_FAST_BILATERAL_OMP_H_
-#define PCL_FILTERS_FAST_BILATERAL_OMP_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 #include <pcl/filters/fast_bilateral.h>
@@ -102,7 +100,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_FastBilateralFilterOMP(T) template class PCL_EXPORTS pcl::FastBilateralFilterOMP<T>;
 #endif
-
-
-#endif /* PCL_FILTERS_FAST_BILATERAL_OMP_H_ */
-
diff --git a/filters/include/pcl/filters/filter.h b/filters/include/pcl/filters/filter.h
index ef30ed703c2..e1638d63ad2 100644
--- a/filters/include/pcl/filters/filter.h
+++ b/filters/include/pcl/filters/filter.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTER_H_
-#define PCL_FILTER_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/common/io.h>
@@ -269,5 +268,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/filter.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTER_H_
diff --git a/filters/include/pcl/filters/filter_indices.h b/filters/include/pcl/filters/filter_indices.h
index 874bf1bf9b1..0aee6fcda82 100644
--- a/filters/include/pcl/filters/filter_indices.h
+++ b/filters/include/pcl/filters/filter_indices.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_FILTER_INDICES_H_
-#define PCL_FILTERS_FILTER_INDICES_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 
@@ -308,6 +307,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/filter_indices.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_FILTER_INDICES_H_
-
diff --git a/filters/include/pcl/filters/frustum_culling.h b/filters/include/pcl/filters/frustum_culling.h
index 9069a6d0c96..a0f07da3ade 100644
--- a/filters/include/pcl/filters/frustum_culling.h
+++ b/filters/include/pcl/filters/frustum_culling.h
@@ -35,9 +35,7 @@
  *
  */
 
-
-#ifndef PCL_FILTERS_FRUSTUM_CULLING_H_
-#define PCL_FILTERS_FRUSTUM_CULLING_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/filters/filter_indices.h>
@@ -238,5 +236,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/frustum_culling.hpp>
 #endif
-
-#endif
diff --git a/filters/include/pcl/filters/grid_minimum.h b/filters/include/pcl/filters/grid_minimum.h
index 5d4a5995f54..c89e5af517d 100644
--- a/filters/include/pcl/filters/grid_minimum.h
+++ b/filters/include/pcl/filters/grid_minimum.h
@@ -39,8 +39,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
-#define PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
+#pragma once
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/filter.h>
@@ -132,6 +131,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/grid_minimum.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
-
diff --git a/filters/include/pcl/filters/local_maximum.h b/filters/include/pcl/filters/local_maximum.h
index 8a8cf28f58f..d183c59a0ac 100644
--- a/filters/include/pcl/filters/local_maximum.h
+++ b/filters/include/pcl/filters/local_maximum.h
@@ -39,8 +39,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_LOCAL_MAXIMUM_H_
-#define PCL_FILTERS_LOCAL_MAXIMUM_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <pcl/search/pcl_search.h>
@@ -128,6 +127,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/local_maximum.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_LOCAL_MAXIMUM_H_
-
diff --git a/filters/include/pcl/filters/median_filter.h b/filters/include/pcl/filters/median_filter.h
index 89378821aea..92cfbf2c418 100644
--- a/filters/include/pcl/filters/median_filter.h
+++ b/filters/include/pcl/filters/median_filter.h
@@ -37,9 +37,7 @@
  *
  */
 
-
-#ifndef PCL_FILTERS_MEDIAN_FILTER_H_
-#define PCL_FILTERS_MEDIAN_FILTER_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 
@@ -116,4 +114,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_MedianFilter(T) template class PCL_EXPORTS pcl::MedianFilter<T>;
 #endif
-#endif /* PCL_FILTERS_MEDIAN_FILTER_H_ */
diff --git a/filters/include/pcl/filters/model_outlier_removal.h b/filters/include/pcl/filters/model_outlier_removal.h
index 5587d9f1803..f4e1e7cf5e8 100644
--- a/filters/include/pcl/filters/model_outlier_removal.h
+++ b/filters/include/pcl/filters/model_outlier_removal.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
-#define PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <pcl/ModelCoefficients.h>
@@ -253,5 +252,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/model_outlier_removal.hpp>
 #endif
-
-#endif  // PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
diff --git a/filters/include/pcl/filters/morphological_filter.h b/filters/include/pcl/filters/morphological_filter.h
index 4ea8dda338f..eb18f28a3e1 100644
--- a/filters/include/pcl/filters/morphological_filter.h
+++ b/filters/include/pcl/filters/morphological_filter.h
@@ -39,8 +39,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
-#define PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
+#pragma once
 
 #include <string>
 #include <pcl/pcl_base.h>
@@ -77,6 +76,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/morphological_filter.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
-
diff --git a/filters/include/pcl/filters/normal_refinement.h b/filters/include/pcl/filters/normal_refinement.h
index 657a947936e..6807e37221c 100644
--- a/filters/include/pcl/filters/normal_refinement.h
+++ b/filters/include/pcl/filters/normal_refinement.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_NORMAL_REFINEMENT_H_
-#define PCL_FILTERS_NORMAL_REFINEMENT_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 
@@ -304,5 +303,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_NormalRefinement(T) template class PCL_EXPORTS pcl::NormalRefinement<T>;
 #endif
-
-#endif 
diff --git a/filters/include/pcl/filters/normal_space.h b/filters/include/pcl/filters/normal_space.h
index e7b60129b99..1177925921c 100644
--- a/filters/include/pcl/filters/normal_space.h
+++ b/filters/include/pcl/filters/normal_space.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_NORMAL_SUBSAMPLE_H_
-#define PCL_FILTERS_NORMAL_SUBSAMPLE_H_
+#pragma once
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/filter_indices.h>
@@ -205,5 +204,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/normal_space.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_NORMAL_SPACE_SUBSAMPLE_H_
diff --git a/filters/include/pcl/filters/passthrough.h b/filters/include/pcl/filters/passthrough.h
index f1163c85f8b..f0b06b67aff 100644
--- a/filters/include/pcl/filters/passthrough.h
+++ b/filters/include/pcl/filters/passthrough.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_PASSTHROUGH_H_
-#define PCL_FILTERS_PASSTHROUGH_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 
@@ -378,6 +377,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/passthrough.hpp>
 #endif
-
-#endif  // PCL_FILTERS_PASSTHROUGH_H_
-
diff --git a/filters/include/pcl/filters/plane_clipper3D.h b/filters/include/pcl/filters/plane_clipper3D.h
index 3f16c6342fd..8435af4cec4 100644
--- a/filters/include/pcl/filters/plane_clipper3D.h
+++ b/filters/include/pcl/filters/plane_clipper3D.h
@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_PLANE_CLIPPER3D_H_
-#define PCL_PLANE_CLIPPER3D_H_
+#pragma once
+
 #include "clipper3D.h"
 
 namespace pcl
@@ -103,5 +103,3 @@ namespace pcl
 }
 
 #include <pcl/filters/impl/plane_clipper3D.hpp>
-
-#endif // PCL_PLANE_CLIPPER3D_H_
diff --git a/filters/include/pcl/filters/project_inliers.h b/filters/include/pcl/filters/project_inliers.h
index bed7b96b586..4808525f887 100644
--- a/filters/include/pcl/filters/project_inliers.h
+++ b/filters/include/pcl/filters/project_inliers.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
-#define PCL_FILTERS_PROJECT_INLIERS_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/filters/filter.h>
@@ -288,5 +287,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/project_inliers.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
diff --git a/filters/include/pcl/filters/pyramid.h b/filters/include/pcl/filters/pyramid.h
index 4b6c52e7889..2561d0dc137 100644
--- a/filters/include/pcl/filters/pyramid.h
+++ b/filters/include/pcl/filters/pyramid.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_PYRAMID_H_
-#define PCL_FILTERS_PYRAMID_H_
+#pragma once
 
 #include <pcl/common/point_operators.h>
 #include <pcl/point_cloud.h>
@@ -165,5 +164,3 @@ namespace pcl
     };
   }
 }
-
-#endif
diff --git a/filters/include/pcl/filters/radius_outlier_removal.h b/filters/include/pcl/filters/radius_outlier_removal.h
index 1f1024b554d..51898122733 100644
--- a/filters/include/pcl/filters/radius_outlier_removal.h
+++ b/filters/include/pcl/filters/radius_outlier_removal.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
-#define PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <pcl/search/pcl_search.h>
@@ -269,6 +268,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/radius_outlier_removal.hpp>
 #endif
-
-#endif  // PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
-
diff --git a/filters/include/pcl/filters/random_sample.h b/filters/include/pcl/filters/random_sample.h
index 65b2e2a9cd6..4ee19a43cfc 100644
--- a/filters/include/pcl/filters/random_sample.h
+++ b/filters/include/pcl/filters/random_sample.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
-#define PCL_FILTERS_RANDOM_SUBSAMPLE_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <time.h>
@@ -239,5 +238,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/random_sample.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
diff --git a/filters/include/pcl/filters/sampling_surface_normal.h b/filters/include/pcl/filters/sampling_surface_normal.h
index dd8f6eb2dc9..99b278de089 100644
--- a/filters/include/pcl/filters/sampling_surface_normal.h
+++ b/filters/include/pcl/filters/sampling_surface_normal.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
-#define PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 #include <time.h>
@@ -249,5 +248,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/sampling_surface_normal.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
diff --git a/filters/include/pcl/filters/shadowpoints.h b/filters/include/pcl/filters/shadowpoints.h
index 1f2733ec545..2c6913b2dd8 100644
--- a/filters/include/pcl/filters/shadowpoints.h
+++ b/filters/include/pcl/filters/shadowpoints.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_SHADOW_POINTS_FILTER_H_
-#define PCL_FILTERS_SHADOW_POINTS_FILTER_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <time.h>
@@ -129,5 +128,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/shadowpoints.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_SHADOW_POINTS_FILTER_H_
diff --git a/filters/include/pcl/filters/statistical_outlier_removal.h b/filters/include/pcl/filters/statistical_outlier_removal.h
index 3dcad2df23f..2a234213467 100644
--- a/filters/include/pcl/filters/statistical_outlier_removal.h
+++ b/filters/include/pcl/filters/statistical_outlier_removal.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_
-#define PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_
+#pragma once
 
 #include <pcl/filters/filter_indices.h>
 #include <pcl/search/pcl_search.h>
@@ -288,6 +287,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/statistical_outlier_removal.hpp>
 #endif
-
-#endif  // PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_
-
diff --git a/filters/include/pcl/filters/uniform_sampling.h b/filters/include/pcl/filters/uniform_sampling.h
index 7e14ebde892..6d251ee2712 100644
--- a/filters/include/pcl/filters/uniform_sampling.h
+++ b/filters/include/pcl/filters/uniform_sampling.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_UNIFORM_SAMPLING_H_
-#define PCL_FILTERS_UNIFORM_SAMPLING_H_
+#pragma once
 
 #include <pcl/filters/filter.h>
 #include <boost/unordered_map.hpp>
@@ -141,6 +140,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/uniform_sampling.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_UNIFORM_SAMPLING_H_
-
diff --git a/filters/include/pcl/filters/voxel_grid.h b/filters/include/pcl/filters/voxel_grid.h
index 2e5230e00ef..8e8b41553f7 100644
--- a/filters/include/pcl/filters/voxel_grid.h
+++ b/filters/include/pcl/filters/voxel_grid.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_
-#define PCL_FILTERS_VOXEL_GRID_MAP_H_
+#pragma once
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/filter.h>
@@ -853,5 +852,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/voxel_grid.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_
diff --git a/filters/include/pcl/filters/voxel_grid_covariance.h b/filters/include/pcl/filters/voxel_grid_covariance.h
index e181986da84..9e077cc0692 100644
--- a/filters/include/pcl/filters/voxel_grid_covariance.h
+++ b/filters/include/pcl/filters/voxel_grid_covariance.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_VOXEL_GRID_COVARIANCE_H_
-#define PCL_VOXEL_GRID_COVARIANCE_H_
+#pragma once
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/voxel_grid.h>
@@ -543,5 +542,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/voxel_grid_covariance.hpp>
 #endif
-
-#endif  //#ifndef PCL_VOXEL_GRID_COVARIANCE_H_
diff --git a/filters/include/pcl/filters/voxel_grid_label.h b/filters/include/pcl/filters/voxel_grid_label.h
index aa76f187a30..2002724e784 100644
--- a/filters/include/pcl/filters/voxel_grid_label.h
+++ b/filters/include/pcl/filters/voxel_grid_label.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_VOXEL_GRID_LABEL_H_
-#define PCL_VOXEL_GRID_LABEL_H_
+#pragma once
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/point_types.h>
@@ -71,5 +70,3 @@ namespace pcl
 
   };
 }
-
-#endif  //#ifndef PCL_VOXEL_GRID_LABEL_H_
diff --git a/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h b/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h
index 857dd11ef7a..075f2d8f63a 100644
--- a/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h
+++ b/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
-#define PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
+#pragma once
 
 #include <pcl/filters/voxel_grid.h>
 
@@ -249,5 +248,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/filters/impl/voxel_grid_occlusion_estimation.hpp>
 #endif
-
-#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
diff --git a/geometry/include/pcl/geometry/boost.h b/geometry/include/pcl/geometry/boost.h
index e7ec3e8c1d4..fabd2ac6211 100644
--- a/geometry/include/pcl/geometry/boost.h
+++ b/geometry/include/pcl/geometry/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_BOOST_H
-#define PCL_GEOMETRY_BOOST_H
+#pragma once
 
 #ifdef __GNUC__
 #  pragma GCC system_header
@@ -51,5 +50,3 @@
 #include <boost/type_traits/is_same.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/version.hpp>
-
-#endif // PCL_GEOMETRY_BOOST_H
diff --git a/geometry/include/pcl/geometry/eigen.h b/geometry/include/pcl/geometry/eigen.h
index caa8f3e71b8..8975e64aad5 100644
--- a/geometry/include/pcl/geometry/eigen.h
+++ b/geometry/include/pcl/geometry/eigen.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_EIGEN_H
-#define PCL_GEOMETRY_EIGEN_H
+#pragma once
 
 #ifdef __GNUC__
 #  pragma GCC system_header
@@ -47,5 +46,3 @@
 
 #include <Eigen/Core>
 #include <Eigen/StdVector>
-
-#endif // PCL_GEOMETRY_EIGEN_H
diff --git a/geometry/include/pcl/geometry/get_boundary.h b/geometry/include/pcl/geometry/get_boundary.h
index ec08121e772..d2e97a98e1a 100644
--- a/geometry/include/pcl/geometry/get_boundary.h
+++ b/geometry/include/pcl/geometry/get_boundary.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_GET_BOUNDARY_H
-#define PCL_GEOMETRY_GET_BOUNDARY_H
+#pragma once
 
 #include <vector>
 
@@ -91,5 +90,3 @@ namespace pcl
 
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_GET_BOUNDARY_H
diff --git a/geometry/include/pcl/geometry/mesh_base.h b/geometry/include/pcl/geometry/mesh_base.h
index ec003dc8800..f60e3d87257 100644
--- a/geometry/include/pcl/geometry/mesh_base.h
+++ b/geometry/include/pcl/geometry/mesh_base.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_MESH_BASE_H
-#define PCL_GEOMETRY_MESH_BASE_H
+#pragma once
 
 #include <vector>
 
@@ -2151,5 +2150,3 @@ namespace pcl
     };
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_BASE_H
diff --git a/geometry/include/pcl/geometry/mesh_circulators.h b/geometry/include/pcl/geometry/mesh_circulators.h
index a52b2e14989..f2f0c0a38f4 100644
--- a/geometry/include/pcl/geometry/mesh_circulators.h
+++ b/geometry/include/pcl/geometry/mesh_circulators.h
@@ -40,8 +40,7 @@
 
 // NOTE: This file has been created with 'pcl_src/geometry/include/pcl/geometry/mesh_circulators.py'
 
-#ifndef PCL_GEOMETRY_MESH_CIRCULATORS_H
-#define PCL_GEOMETRY_MESH_CIRCULATORS_H
+#pragma once
 
 #include <pcl/geometry/boost.h>
 #include <pcl/geometry/mesh_indices.h>
@@ -911,5 +910,3 @@ namespace pcl
     };
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_CIRCULATORS_H
diff --git a/geometry/include/pcl/geometry/mesh_conversion.h b/geometry/include/pcl/geometry/mesh_conversion.h
index 64f0003426b..186563b4708 100644
--- a/geometry/include/pcl/geometry/mesh_conversion.h
+++ b/geometry/include/pcl/geometry/mesh_conversion.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_MESH_CONVERSION_H
-#define PCL_GEOMETRY_MESH_CONVERSION_H
+#pragma once
 
 #include <pcl/PolygonMesh.h>
 #include <pcl/conversions.h>
@@ -130,5 +129,3 @@ namespace pcl
     }
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_CONVERSION_H
diff --git a/geometry/include/pcl/geometry/mesh_elements.h b/geometry/include/pcl/geometry/mesh_elements.h
index bbdb404ed82..23ce44f16a1 100644
--- a/geometry/include/pcl/geometry/mesh_elements.h
+++ b/geometry/include/pcl/geometry/mesh_elements.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_MESH_ELEMENTS_H
-#define PCL_GEOMETRY_MESH_ELEMENTS_H
+#pragma once
 
 #include <pcl/geometry/mesh_indices.h>
 
@@ -186,5 +185,3 @@ namespace pcl
     };
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_ELEMENTS_H
diff --git a/geometry/include/pcl/geometry/mesh_indices.h b/geometry/include/pcl/geometry/mesh_indices.h
index 36f82b758f3..e3b5036d808 100644
--- a/geometry/include/pcl/geometry/mesh_indices.h
+++ b/geometry/include/pcl/geometry/mesh_indices.h
@@ -40,8 +40,7 @@
 
 // NOTE: This file has been created with 'pcl_src/geometry/include/pcl/geometry/mesh_indices.py'
 
-#ifndef PCL_GEOMETRY_MESH_INDICES_H
-#define PCL_GEOMETRY_MESH_INDICES_H
+#pragma once
 
 #include <iostream>
 
@@ -629,5 +628,3 @@ namespace pcl
     }
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_INDICES_H
diff --git a/geometry/include/pcl/geometry/mesh_io.h b/geometry/include/pcl/geometry/mesh_io.h
index 148b44bd1f6..56692382887 100644
--- a/geometry/include/pcl/geometry/mesh_io.h
+++ b/geometry/include/pcl/geometry/mesh_io.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_MESH_IO_H
-#define PCL_GEOMETRY_MESH_IO_H
+#pragma once
 
 #include <fstream>
 #include <string>
@@ -261,5 +260,3 @@ namespace pcl
 
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_IO_H
diff --git a/geometry/include/pcl/geometry/mesh_traits.h b/geometry/include/pcl/geometry/mesh_traits.h
index 01a34a92bb5..85c708ee8b1 100644
--- a/geometry/include/pcl/geometry/mesh_traits.h
+++ b/geometry/include/pcl/geometry/mesh_traits.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_MESH_TRAITS_H
-#define PCL_GEOMETRY_MESH_TRAITS_H
+#pragma once
 
 #include <pcl/geometry/boost.h>
 
@@ -82,5 +81,3 @@ namespace pcl
     };
   } // End namespace geometry
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_MESH_TRAITS_H
diff --git a/geometry/include/pcl/geometry/planar_polygon.h b/geometry/include/pcl/geometry/planar_polygon.h
index 1619e48112d..8f7246fd2c2 100644
--- a/geometry/include/pcl/geometry/planar_polygon.h
+++ b/geometry/include/pcl/geometry/planar_polygon.h
@@ -37,9 +37,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
-#define PCL_GEOMETRY_PLANAR_POLYGON_H_
-
+#pragma once
 
 #include <pcl/common/eigen.h>
 #include <pcl/point_cloud.h>
@@ -140,6 +138,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif  //#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
-
diff --git a/geometry/include/pcl/geometry/polygon_mesh.h b/geometry/include/pcl/geometry/polygon_mesh.h
index 1171565db21..71825f95f4e 100644
--- a/geometry/include/pcl/geometry/polygon_mesh.h
+++ b/geometry/include/pcl/geometry/polygon_mesh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_POLYGON_MESH_H
-#define PCL_GEOMETRY_POLYGON_MESH_H
+#pragma once
 
 #include <pcl/geometry/mesh_base.h>
 
@@ -199,5 +198,3 @@ namespace pcl
     };
   } // End namespace geom
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_POLYGON_MESH_H
diff --git a/geometry/include/pcl/geometry/polygon_operations.h b/geometry/include/pcl/geometry/polygon_operations.h
index ec6c1a7690a..f43540ca06f 100644
--- a/geometry/include/pcl/geometry/polygon_operations.h
+++ b/geometry/include/pcl/geometry/polygon_operations.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_POLYGON_OPERATORS_H
-#define PCL_GEOMETRY_POLYGON_OPERATORS_H
+#pragma once
 
 #include "planar_polygon.h"
 #include <pcl/point_cloud.h>
@@ -69,4 +68,3 @@ namespace pcl
 } // namespace pcl
 
 #include "impl/polygon_operations.hpp"
-#endif // PCL_GEOMETRY_POLYGON_OPERATORS_H=======
diff --git a/geometry/include/pcl/geometry/quad_mesh.h b/geometry/include/pcl/geometry/quad_mesh.h
index 9f5ae7586d8..90ec9d65350 100644
--- a/geometry/include/pcl/geometry/quad_mesh.h
+++ b/geometry/include/pcl/geometry/quad_mesh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_QUAD_MESH_H
-#define PCL_GEOMETRY_QUAD_MESH_H
+#pragma once
 
 #include <pcl/geometry/mesh_base.h>
 
@@ -173,5 +172,3 @@ namespace pcl
     };
   } // End namespace geom
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_QUAD_MESH_H
diff --git a/geometry/include/pcl/geometry/triangle_mesh.h b/geometry/include/pcl/geometry/triangle_mesh.h
index ae331e75e69..3bce6be7972 100644
--- a/geometry/include/pcl/geometry/triangle_mesh.h
+++ b/geometry/include/pcl/geometry/triangle_mesh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GEOMETRY_TRIANGLE_MESH_H
-#define PCL_GEOMETRY_TRIANGLE_MESH_H
+#pragma once
 
 #include <utility>
 
@@ -357,5 +356,3 @@ namespace pcl
     };
   } // End namespace geom
 } // End namespace pcl
-
-#endif // PCL_GEOMETRY_TRIANGLE_MESH_H
diff --git a/gpu/containers/include/pcl/gpu/containers/device_array.h b/gpu/containers/include/pcl/gpu/containers/device_array.h
index c1ed2ebbbd3..4f2b9ea844a 100644
--- a/gpu/containers/include/pcl/gpu/containers/device_array.h
+++ b/gpu/containers/include/pcl/gpu/containers/device_array.h
@@ -34,8 +34,7 @@
  *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
 
-#ifndef PCL_GPU_CONTAINER_DEVICE_ARRAY_HPP_
-#define PCL_GPU_CONTAINER_DEVICE_ARRAY_HPP_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/gpu/containers/device_memory.h>
@@ -267,5 +266,3 @@ namespace pcl
 }
 
 #include <pcl/gpu/containers/impl/device_array.hpp>
-
-#endif /* PCL_GPU_CONTAINER_DEVICE_ARRAY_HPP_ */
diff --git a/gpu/containers/include/pcl/gpu/containers/device_memory.h b/gpu/containers/include/pcl/gpu/containers/device_memory.h
index 032813af29b..ffd3d4b9622 100644
--- a/gpu/containers/include/pcl/gpu/containers/device_memory.h
+++ b/gpu/containers/include/pcl/gpu/containers/device_memory.h
@@ -34,8 +34,7 @@
  *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
 
-#ifndef PCL_GPU_CONTAINERS_DEVICE_MEMORY_HPP_
-#define PCL_GPU_CONTAINERS_DEVICE_MEMORY_HPP_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/gpu/containers/kernel_containers.h>
@@ -256,5 +255,3 @@ namespace pcl
 }
 
 #include <pcl/gpu/containers/impl/device_memory.hpp>
-
-#endif /* PCL_GPU_CONTAINERS_DEVICE_MEMORY_HPP_ */
diff --git a/gpu/containers/include/pcl/gpu/containers/initialization.h b/gpu/containers/include/pcl/gpu/containers/initialization.h
index 6a6ef72bddc..191e748a7f6 100644
--- a/gpu/containers/include/pcl/gpu/containers/initialization.h
+++ b/gpu/containers/include/pcl/gpu/containers/initialization.h
@@ -34,8 +34,7 @@
  *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
 
-#ifndef PCL_GPU_CONTAINERS_INITIALISATION_H_
-#define PCL_GPU_CONTAINERS_INITIALISATION_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <string>
@@ -72,5 +71,3 @@ namespace pcl
         void PCL_EXPORTS error(const char *error_string, const char *file, const int line, const char *func = "");        
     }
 }
-
-#endif /* PCL_GPU_CONTAINERS_INITIALISATION_H_ */
diff --git a/gpu/containers/include/pcl/gpu/containers/kernel_containers.h b/gpu/containers/include/pcl/gpu/containers/kernel_containers.h
index d656f1cd2bd..a7667b2c747 100644
--- a/gpu/containers/include/pcl/gpu/containers/kernel_containers.h
+++ b/gpu/containers/include/pcl/gpu/containers/kernel_containers.h
@@ -34,10 +34,7 @@
  *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
 
-
-#ifndef PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_
-#define PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_
-
+#pragma once
 
 #if defined(__CUDACC__) 
     #define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__ 
@@ -109,6 +106,3 @@ namespace pcl
 }
 
 #undef __PCL_GPU_HOST_DEVICE__
-
-#endif /* PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_ */
-
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/color_volume.h b/gpu/kinfu/include/pcl/gpu/kinfu/color_volume.h
index 3e7d60f4987..5b651a9305a 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/color_volume.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/color_volume.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_COLOR_VOLUME_H_
-#define PCL_KINFU_COLOR_VOLUME_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -106,5 +105,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_KINFU_COLOR_VOLUME_H_ */
\ No newline at end of file
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h b/gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
index c7f8ddef475..40337b82867 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_KINFUTRACKER_HPP_
-#define PCL_KINFU_KINFUTRACKER_HPP_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -302,5 +301,3 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     };
   }
 };
-
-#endif /* PCL_KINFU_KINFUTRACKER_HPP_ */
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h b/gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h
index 3e3a8b56094..89df691c9fe 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_TSDF_MARCHING_CUBES_H_
-#define PCL_KINFU_TSDF_MARCHING_CUBES_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -97,5 +96,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_KINFU_MARCHING_CUBES_H_ */
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/pixel_rgb.h b/gpu/kinfu/include/pcl/gpu/kinfu/pixel_rgb.h
index 53d20939268..3961d8dd5cf 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/pixel_rgb.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/pixel_rgb.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_PIXEL_RGB_HPP_
-#define PCL_KINFU_PIXEL_RGB_HPP_
+#pragma once
 
 namespace pcl
 {
@@ -50,5 +49,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_KINFU_PIXEL_RGB_HPP_ */
\ No newline at end of file
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h b/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h
index 9c8e701d4a0..8e62636a1ec 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h
@@ -35,10 +35,7 @@
  *
  */
 
-
-#ifndef PCL_KINFU_TSDF_RAYCASTER_H_
-#define PCL_KINFU_TSDF_RAYCASTER_H_
-
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -150,5 +147,3 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     void convertMapToOranizedCloud(const RayCaster::MapArr& map, DeviceArray2D<PointType>& cloud);
   }
 }
-
-#endif /* PCL_KINFU_TSDF_RAYCASTER_H_ */
diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/tsdf_volume.h b/gpu/kinfu/include/pcl/gpu/kinfu/tsdf_volume.h
index f81f41fd6eb..2ad9775e861 100644
--- a/gpu/kinfu/include/pcl/gpu/kinfu/tsdf_volume.h
+++ b/gpu/kinfu/include/pcl/gpu/kinfu/tsdf_volume.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_TSDF_VOLUME_H_
-#define PCL_KINFU_TSDF_VOLUME_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -165,5 +164,3 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     };
   }
 }
-
-#endif /* PCL_KINFU_TSDF_VOLUME_H_ */
\ No newline at end of file
diff --git a/gpu/kinfu/src/internal.h b/gpu/kinfu/src/internal.h
index aee57c81308..28df9ae2901 100644
--- a/gpu/kinfu/src/internal.h
+++ b/gpu/kinfu/src/internal.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_INTERNAL_HPP_
-#define PCL_KINFU_INTERNAL_HPP_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 //#include <pcl/gpu/utils/safe_call.hpp>
@@ -438,5 +437,3 @@ namespace pcl
     generateTriangles(const PtrStep<short2>& volume, const DeviceArray2D<int>& occupied_voxels, const float3& volume_size, DeviceArray<PointType>& output);
   }
 }
-
-#endif /* PCL_KINFU_INTERNAL_HPP_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/color_volume.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/color_volume.h
index 9f0f2f948bc..b9d727e0d9c 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/color_volume.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/color_volume.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_COLOR_VOLUME_H_
-#define PCL_KINFU_COLOR_VOLUME_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -109,5 +108,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_KINFU_COLOR_VOLUME_H_ */
\ No newline at end of file
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h
index 09d13a6b6ae..83495a2942c 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h
@@ -35,9 +35,7 @@
  *
  */
 
-
-#ifndef PCL_CYCLICAL_BUFFER_IMPL_H_
-#define PCL_CYCLICAL_BUFFER_IMPL_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/gpu/kinfu_large_scale/tsdf_volume.h>
@@ -270,5 +268,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_CYCLICAL_BUFFER_IMPL_H_
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/device.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/device.h
index 153097c3a58..06436985e3f 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/device.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/device.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_DEVICE_H_
-#define PCL_KINFU_DEVICE_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <iostream> // used by operator << in Struct Intr
@@ -107,5 +106,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_KINFU_DEVICE_H_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/kinfu.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/kinfu.h
index 99403541c9f..60dc4204e36 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/kinfu.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/kinfu.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_KINFUTRACKER_HPP_
-#define PCL_KINFU_KINFUTRACKER_HPP_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -458,5 +457,3 @@ namespace pcl
     }
   }
 };
-
-#endif /* PCL_KINFU_KINFUTRACKER_HPP_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h
index b484d1849df..813c638e418 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_TSDF_MARCHING_CUBES_H_
-#define PCL_KINFU_TSDF_MARCHING_CUBES_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -102,5 +101,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_KINFU_MARCHING_CUBES_H_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/pixel_rgb.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/pixel_rgb.h
index 1070f9f5669..56bd7c8de76 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/pixel_rgb.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/pixel_rgb.h
@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_KINFU_PIXEL_RGB_HPP_
-#define PCL_KINFU_PIXEL_RGB_HPP_
+#pragma once
+
 //#include <boost/graph/buffer_concepts.hpp>
 
 namespace pcl
@@ -54,5 +54,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_KINFU_PIXEL_RGB_HPP_ */
\ No newline at end of file
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/point_intensity.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/point_intensity.h
index d65ef493bde..3c8b473f323 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/point_intensity.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/point_intensity.h
@@ -34,15 +34,13 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
+ 
+#pragma once
 
 #include <iostream>
 #include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
 
-
-#ifndef PCL_KINFU_POINT_INTENSITY_
-#define PCL_KINFU_POINT_INTENSITY_
-
 struct EIGEN_ALIGN16 PointIntensity
 {
 
@@ -60,5 +58,3 @@ struct EIGEN_ALIGN16 PointIntensity
 POINT_CLOUD_REGISTER_POINT_STRUCT(
     PointIntensity,
     (float, intensity, intensity) )
-
-#endif
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h
index 3375626ee41..d12a81b7409 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h
@@ -35,10 +35,7 @@
  *
  */
 
-
-#ifndef PCL_KINFU_TSDF_RAYCASTERLS_H_
-#define PCL_KINFU_TSDF_RAYCASTERLS_H_
-
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -159,5 +156,3 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     }
   }
 }
-
-#endif /* PCL_KINFU_TSDF_RAYCASTER_H_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h
index 4d91bbab79f..071cfb2d186 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h
@@ -36,8 +36,7 @@
  *  Author: Francisco, Technical University Eindhoven, (f.j.mysurname.soriano <At > tue.nl)
  */
 
-#ifndef PCL_SCREENSHOT_MANAGER_H_
-#define PCL_SCREENSHOT_MANAGER_H_
+#pragma once
 
 #include <iostream>
 #include <fstream>
@@ -103,5 +102,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_SCREENSHOT_MANAGER_H_
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h
index 8e42e3c4b5a..9a80b9b9763 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h
@@ -35,8 +35,7 @@
  *
  */
  
- #ifndef PCL_STANDALONE_MARCHING_CUBES_H_
- #define PCL_STANDALONE_MARCHING_CUBES_H_
+#pragma once
 
 //General includes and I/O
 
@@ -169,6 +168,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_StandaloneMarchingCubes(PointT) template class PCL_EXPORTS pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>;
-
-#endif // PCL_STANDALONE_MARCHING_CUBES_H_
- 
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_buffer.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_buffer.h
index f0c6e156355..7023c1fffae 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_buffer.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_buffer.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_TSDF_BUFFER_STRUCT_H_
-#define PCL_TSDF_BUFFER_STRUCT_H_
+#pragma once
 
 #include <cuda_runtime.h>
 //#include <boost/graph/buffer_concepts.hpp>
@@ -83,5 +82,3 @@ namespace pcl
     }
   }
 }
-
-#endif /*PCL_TSDF_BUFFER_STRUCT_H_*/
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h
index 7d009726613..c72cf702709 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_TSDF_VOLUME_H_
-#define PCL_KINFU_TSDF_VOLUME_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -290,5 +289,3 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     }
   }
 }
-
-#endif /* PCL_KINFU_TSDF_VOLUME_H_ */
diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
index e0dff28af39..012b04ae511 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
@@ -36,8 +36,7 @@
  *  Author: Raphael Favier, Technical University Eindhoven, (r.mysurname <aT> tue.nl)
  */
 
-#ifndef PCL_WORLD_MODEL_H_
-#define PCL_WORLD_MODEL_H_
+#pragma once
 
 #include <pcl/common/impl/common.hpp>
 #include <pcl/filters/extract_indices.h>
@@ -180,5 +179,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_WORLD_MODEL_H_
diff --git a/gpu/kinfu_large_scale/src/estimate_combined.h b/gpu/kinfu_large_scale/src/estimate_combined.h
index 1344af0e3e9..897b6844c88 100644
--- a/gpu/kinfu_large_scale/src/estimate_combined.h
+++ b/gpu/kinfu_large_scale/src/estimate_combined.h
@@ -35,10 +35,7 @@
  *
  */
 
-#ifndef PCL_GPU_KINFU_LARGE_SCALE_CUDA_ESTIMATE_COMBINED_H_
-#define PCL_GPU_KINFU_LARGE_SCALE_CUDA_ESTIMATE_COMBINED_H_
+#pragma once
 
 #define ESTIMATE_COMBINED_CUDA_GRID_X 32
 #define ESTIMATE_COMBINED_CUDA_GRID_Y 8
-
-#endif // PCL_GPU_KINFU_LARGE_SCALE_CUDA_ESTIMATE_COMBINED_H_ 
diff --git a/gpu/kinfu_large_scale/src/internal.h b/gpu/kinfu_large_scale/src/internal.h
index eaa0afe29b2..815d99dba75 100644
--- a/gpu/kinfu_large_scale/src/internal.h
+++ b/gpu/kinfu_large_scale/src/internal.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KINFU_INTERNAL_HPP_
-#define PCL_KINFU_INTERNAL_HPP_
+#pragma once
 
 #include <pcl/gpu/utils/safe_call.hpp>
 #include <pcl/gpu/kinfu_large_scale/device.h>
@@ -455,5 +454,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_KINFU_INTERNAL_HPP_ */
diff --git a/gpu/people/include/pcl/gpu/people/bodyparts_detector.h b/gpu/people/include/pcl/gpu/people/bodyparts_detector.h
index aeafde62c7a..9171bfec920 100644
--- a/gpu/people/include/pcl/gpu/people/bodyparts_detector.h
+++ b/gpu/people/include/pcl/gpu/people/bodyparts_detector.h
@@ -34,9 +34,7 @@
  * @author: Koen Buys, Anatoly Baksheev
  */
 
-
-#ifndef PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H
-#define PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/point_types.h>
@@ -155,5 +153,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H */
diff --git a/gpu/people/include/pcl/gpu/people/colormap.h b/gpu/people/include/pcl/gpu/people/colormap.h
index 2736fc09449..1c8d363df99 100644
--- a/gpu/people/include/pcl/gpu/people/colormap.h
+++ b/gpu/people/include/pcl/gpu/people/colormap.h
@@ -37,8 +37,7 @@
  * @author: Koen Buys, Anatoly Baksheev
  */
 
-#ifndef PCL_GPU_PEOPLE_COLORMAP_H_
-#define PCL_GPU_PEOPLE_COLORMAP_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -91,4 +90,3 @@ namespace pcl
     } // end namespace people
   } // end namespace gpu
 } // end namespace pcl
-#endif //PCL_GPU_PEOPLE_COLORMAP_H_
diff --git a/gpu/people/include/pcl/gpu/people/face_detector.h b/gpu/people/include/pcl/gpu/people/face_detector.h
index 66d1a7b4c5b..cb1a63b87be 100644
--- a/gpu/people/include/pcl/gpu/people/face_detector.h
+++ b/gpu/people/include/pcl/gpu/people/face_detector.h
@@ -34,8 +34,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_PEOPLE_FACE_DETECTOR_H_
-#define PCL_GPU_PEOPLE_FACE_DETECTOR_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/point_types.h>
@@ -197,6 +196,3 @@ namespace pcl
     }
   }
 }
-
-
-#endif /* PCL_GPU_PEOPLE_FACE_DETECTOR_H_ */
diff --git a/gpu/people/include/pcl/gpu/people/label_blob2.h b/gpu/people/include/pcl/gpu/people/label_blob2.h
index e101ea188f9..1ce46a7f836 100644
--- a/gpu/people/include/pcl/gpu/people/label_blob2.h
+++ b/gpu/people/include/pcl/gpu/people/label_blob2.h
@@ -39,8 +39,7 @@
  * @brief This file contains the Blob2 structure and the inline <<-operator for it
  */
 
-#ifndef PCL_GPU_PEOPLE_LABEL_BLOB2_H_
-#define PCL_GPU_PEOPLE_LABEL_BLOB2_H_
+#pragma once
 
 #include <pcl/PointIndices.h>
 #include <pcl/gpu/people/label_common.h>
@@ -96,5 +95,3 @@ namespace pcl
     } // end namespace people
   } // end namespace gpu
 } // end namespace pcl
-
-#endif
diff --git a/gpu/people/include/pcl/gpu/people/label_common.h b/gpu/people/include/pcl/gpu/people/label_common.h
index 02f65c36f23..434beecc4c4 100644
--- a/gpu/people/include/pcl/gpu/people/label_common.h
+++ b/gpu/people/include/pcl/gpu/people/label_common.h
@@ -37,8 +37,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_PEOPLE_LABEL_COMMON_H_
-#define PCL_GPU_PEOPLE_LABEL_COMMON_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <cuda_runtime.h> // for float4, uchar4, delete this in future
@@ -282,5 +281,3 @@ inline std::ostream& operator << (std::ostream& os, const part_t& p)
   return (os);
 }
  **/
-
-#endif
diff --git a/gpu/people/include/pcl/gpu/people/label_segment.h b/gpu/people/include/pcl/gpu/people/label_segment.h
index 74839bb6b1e..c5d17320231 100644
--- a/gpu/people/include/pcl/gpu/people/label_segment.h
+++ b/gpu/people/include/pcl/gpu/people/label_segment.h
@@ -39,8 +39,7 @@
  * @brief This file contains the function prototypes for the segmentation functions
  */
 
-#ifndef PCL_GPU_PEOPLE_LABEL_SEGMENT_H_
-#define PCL_GPU_PEOPLE_LABEL_SEGMENT_H_
+#pragma once
 
 // our headers
 #include "pcl/gpu/people/label_blob2.h"
@@ -397,5 +396,3 @@ namespace pcl
     } // end namespace people
   } // end namespace gpu
 } // end namespace pcl
-
-#endif //#ifndef LABELSKEL_SEGMENT_H
diff --git a/gpu/people/include/pcl/gpu/people/label_tree.h b/gpu/people/include/pcl/gpu/people/label_tree.h
index 01f6e4e4a14..7c39fd6cb60 100644
--- a/gpu/people/include/pcl/gpu/people/label_tree.h
+++ b/gpu/people/include/pcl/gpu/people/label_tree.h
@@ -39,8 +39,7 @@
  * @brief This file contains the function prototypes for the tree building functions.
  */
  
-#ifndef PCL_GPU_PEOPLE_LABEL_TREE_H_
-#define PCL_GPU_PEOPLE_LABEL_TREE_H_
+#pragma once
  
 // our headers
 #include "pcl/gpu/people/label_blob2.h"   //this one defines the blob structure
@@ -667,4 +666,3 @@ namespace pcl
     } //end namespace people
   } // end namespace gpu
 } // end namespace pcl
-#endif
diff --git a/gpu/people/include/pcl/gpu/people/organized_plane_detector.h b/gpu/people/include/pcl/gpu/people/organized_plane_detector.h
index a8dbb28aed1..9187053a0b3 100644
--- a/gpu/people/include/pcl/gpu/people/organized_plane_detector.h
+++ b/gpu/people/include/pcl/gpu/people/organized_plane_detector.h
@@ -34,8 +34,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_PEOPLE_ORGANIZED_PLANE_DETECTOR_H_
-#define PCL_GPU_PEOPLE_ORGANIZED_PLANE_DETECTOR_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <pcl/point_types.h>
@@ -170,5 +169,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_GPU_PEOPLE_FACE_DETECTOR_H_ */
diff --git a/gpu/people/include/pcl/gpu/people/people_detector.h b/gpu/people/include/pcl/gpu/people/people_detector.h
index 226e1de11ee..d95a755e908 100644
--- a/gpu/people/include/pcl/gpu/people/people_detector.h
+++ b/gpu/people/include/pcl/gpu/people/people_detector.h
@@ -34,8 +34,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_PEOPLE_PERSON_H_
-#define PCL_GPU_PEOPLE_PERSON_H_
+#pragma once
 
 #include <iostream>
 #include <sstream>
@@ -171,4 +170,3 @@ namespace pcl
     }
   }
 }
-#endif // PCL_GPU_PEOPLE_PERSON_H_
diff --git a/gpu/people/include/pcl/gpu/people/probability_processor.h b/gpu/people/include/pcl/gpu/people/probability_processor.h
index 159e081013c..5d8d7d63990 100644
--- a/gpu/people/include/pcl/gpu/people/probability_processor.h
+++ b/gpu/people/include/pcl/gpu/people/probability_processor.h
@@ -34,8 +34,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_PROBABILITY_PROCESSOR_H_
-#define PCL_GPU_PROBABILITY_PROCESSOR_H_
+#pragma once
 
 #include <iostream>
 #include <sstream>
@@ -110,5 +109,3 @@ namespace pcl
     }
   }
 }
-
-#endif // PCL_GPU_PROBABILITY_PROCESSOR_H_
diff --git a/gpu/people/include/pcl/gpu/people/tree.h b/gpu/people/include/pcl/gpu/people/tree.h
index 49983d5c8ff..022c716abe1 100644
--- a/gpu/people/include/pcl/gpu/people/tree.h
+++ b/gpu/people/include/pcl/gpu/people/tree.h
@@ -37,8 +37,7 @@
  * @authors: Cedric Cagniart, Koen Buys
  */
 
-#ifndef PCL_GPU_PEOPLE_TREE_H_
-#define PCL_GPU_PEOPLE_TREE_H_
+#pragma once
 
 #include "label_common.h"
 #include <boost/cstdint.hpp> 
@@ -137,4 +136,3 @@ namespace pcl
     } // end namespace people
   } // end namespace gpu
 } // end namespace pcl
-#endif  // PCL_GPU_PEOPLE_TREES_TREE_H_
diff --git a/gpu/people/include/pcl/gpu/people/tree_train.h b/gpu/people/include/pcl/gpu/people/tree_train.h
index e6663c5b876..7720d71fa46 100644
--- a/gpu/people/include/pcl/gpu/people/tree_train.h
+++ b/gpu/people/include/pcl/gpu/people/tree_train.h
@@ -5,8 +5,7 @@
  * Author : Cedric Cagniart 
  * ************************************************* */
 
-#ifndef PCL_GPU_PEOPLE_TREE_TRAIN_H_
-#define PCL_GPU_PEOPLE_TREE_TRAIN_H_
+#pragma once
 
 #include "tree.h"
 #include <boost/array.hpp>
@@ -227,4 +226,3 @@ namespace pcl
     } // end namespace people
   } // end namespace gpu
 } // end namespace pcl
-#endif
diff --git a/gpu/people/src/cuda/device.h b/gpu/people/src/cuda/device.h
index 33257496a07..cd46df606f8 100644
--- a/gpu/people/src/cuda/device.h
+++ b/gpu/people/src/cuda/device.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GPU_PEOPLE_CUDA_DEVICE_H_
-#define PCL_GPU_PEOPLE_CUDA_DEVICE_H_
+#pragma once
 
 #include <cuda_runtime.h>
 
@@ -75,5 +74,3 @@ namespace pcl
     }
   }
 }
-
-#endif /* PCL_GPU_PEOPLE_CUDA_DEVICE_H_ */
\ No newline at end of file
diff --git a/gpu/people/src/cuda_async_copy.h b/gpu/people/src/cuda_async_copy.h
index 173eeedf86f..aaf491dc354 100644
--- a/gpu/people/src/cuda_async_copy.h
+++ b/gpu/people/src/cuda_async_copy.h
@@ -36,9 +36,7 @@
  * @authors: Anatoly Baksheev
  */
 
-
-#ifndef PCL_GPU_PEOPLE_CUDA_ASYNC_COPY_H_
-#define PCL_GPU_PEOPLE_CUDA_ASYNC_COPY_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <pcl/gpu/utils/safe_call.hpp>
@@ -104,6 +102,3 @@ namespace pcl
     using pcl::gpu::AsyncCopy;
   }
 }
-
-#endif /* PCL_GPU_PEOPLE_CUDA_ASYNC_COPY_H_ */
-
diff --git a/gpu/people/src/internal.h b/gpu/people/src/internal.h
index 2accc07eb4d..aa5e3e88378 100644
--- a/gpu/people/src/internal.h
+++ b/gpu/people/src/internal.h
@@ -36,8 +36,7 @@
  * @authors: Cedric Cagniart, Koen Buys, Anatoly Baksheev
  */
 
-#ifndef PCL_GPU_PEOPLE_INTERNAL_H_
-#define PCL_GPU_PEOPLE_INTERNAL_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <pcl/gpu/utils/safe_call.hpp>
@@ -195,5 +194,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_GPU_PEOPLE_INTERNAL_H_ */
diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h
index 101ca4aef2a..b6b7f807e5e 100644
--- a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h
+++ b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h
@@ -37,8 +37,7 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_EXTRACT_CLUSTERS_H_
-#define PCL_GPU_EXTRACT_CLUSTERS_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -165,9 +164,3 @@ namespace pcl
     }
   }
 }
-
-#endif //PCL_GPU_EXTRACT_CLUSTERS_H_
-
-
-
-
diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h
index 520c97b73c2..5e94a61100e 100644
--- a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h
+++ b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h
@@ -37,15 +37,13 @@
  *
  */
 
-#ifndef PCL_GPU_EXTRACT_LABELED_CLUSTERS_H_
-#define PCL_GPU_EXTRACT_LABELED_CLUSTERS_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/PointIndices.h>
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/octree/octree.hpp>
-#include <pcl/gpu/containers/impl/device_array.hpp>
 
 namespace pcl
 {
@@ -160,5 +158,3 @@ namespace pcl
     }
   }
 }
-
-#endif //PCL_GPU_EXTRACT_LABELED_CLUSTERS_H_
diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h
index f4d0c5ce4be..c795d70026c 100644
--- a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h
+++ b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h
@@ -37,15 +37,12 @@
  *
  */
 
-#ifndef PCL_GPU_SEEDED_HUE_SEGMENTATION_H_
-#define PCL_GPU_SEEDED_HUE_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/PointIndices.h>
 #include <pcl/pcl_macros.h>
-#include <pcl/gpu/octree/octree.hpp>
-#include <pcl/gpu/containers/device_array.hpp>
 
 namespace pcl
 {
@@ -147,9 +144,3 @@ namespace pcl
     }
   }
 }
-
-#endif //PCL_GPU_SEEDED_HUE_SEGMENTATION_H_
-
-
-
-
diff --git a/gpu/surface/include/pcl/gpu/surface/convex_hull.h b/gpu/surface/include/pcl/gpu/surface/convex_hull.h
index 0e6109162d7..1a00dcce321 100644
--- a/gpu/surface/include/pcl/gpu/surface/convex_hull.h
+++ b/gpu/surface/include/pcl/gpu/surface/convex_hull.h
@@ -35,9 +35,7 @@
  *
  */
 
-
-#ifndef PCL_GPU_SURFACE_CONVEX_HULL_HPP_
-#define PCL_GPU_SURFACE_CONVEX_HULL_HPP_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -74,5 +72,3 @@ namespace pcl
 	};
   }
 }
-
-#endif /* PCL_GPU_SURFACE_CONVEX_HULL_HPP_*/ 
\ No newline at end of file
diff --git a/gpu/surface/src/cuda/device.h b/gpu/surface/src/cuda/device.h
index c2da470a206..405b90d700f 100644
--- a/gpu/surface/src/cuda/device.h
+++ b/gpu/surface/src/cuda/device.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_GPU_SURFACE_DEVICE_H_
-#define PCL_GPU_SURFACE_DEVICE_H_
+#pragma once
 
 #include "internal.h"
 #include <pcl/gpu/utils/device/vector_math.hpp>
@@ -86,5 +85,3 @@ namespace pcl
 
   }
 };
-
-#endif /* PCL_GPU_SURFACE_DEVICE_H_ */
diff --git a/gpu/surface/src/internal.h b/gpu/surface/src/internal.h
index 2a1e7b29a8b..d23d352245b 100644
--- a/gpu/surface/src/internal.h
+++ b/gpu/surface/src/internal.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_GPU_SURFACE_INTERNAL_H_
-#define PCL_GPU_SURFACE_INTERNAL_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <cuda_runtime.h>
@@ -120,5 +119,3 @@ namespace pcl
 	  void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
   }
 }
-
-#endif /* PCL_GPU_SURFACE_INTERNAL_H_ */ 
diff --git a/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h b/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h
index 0cf84f6ba87..848398c4701 100644
--- a/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h
+++ b/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h
@@ -1,5 +1,4 @@
-#ifndef PCL_GPU_TRACKING_PARTICLE_FILTER_H_
-#define PCL_GPU_TRACKING_PARTICLE_FILTER_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/gpu/containers/device_array.h>
@@ -148,5 +147,3 @@ namespace pcl
 		};
   }
 }
-
-#endif // PCL_GPU_TRACKING_PARTICLE_FILTER_H_
diff --git a/gpu/tracking/src/internal.h b/gpu/tracking/src/internal.h
index dbbd5a89159..3cd5b842500 100644
--- a/gpu/tracking/src/internal.h
+++ b/gpu/tracking/src/internal.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_INTERNAL_H_
-#define PCL_TRACKING_INTERNAL_H_
+#pragma once
 
 #include <pcl/gpu/containers/device_array.h>
 #include <pcl/gpu/utils/safe_call.hpp>
@@ -48,6 +47,3 @@ namespace pcl
 			*/			
 	}
 }
-
-
-#endif // PCL_TRACKING_INTERNAL_H_
diff --git a/io/include/pcl/compression/organized_pointcloud_compression.h b/io/include/pcl/compression/organized_pointcloud_compression.h
index d75f13277cb..abbb7567083 100644
--- a/io/include/pcl/compression/organized_pointcloud_compression.h
+++ b/io/include/pcl/compression/organized_pointcloud_compression.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_ORGANIZED_POINT_COMPRESSION_H_
-#define PCL_ORGANIZED_POINT_COMPRESSION_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
@@ -151,5 +150,3 @@ namespace pcl
     const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>";
   }
 }
-
-#endif
diff --git a/io/include/pcl/compression/organized_pointcloud_conversion.h b/io/include/pcl/compression/organized_pointcloud_conversion.h
index 5e737ea304d..571f1b56017 100644
--- a/io/include/pcl/compression/organized_pointcloud_conversion.h
+++ b/io/include/pcl/compression/organized_pointcloud_conversion.h
@@ -37,8 +37,7 @@
  * Authors: Julius Kammerl (julius@kammerl.de)
  */
 
-#ifndef PCL_ORGANIZED_CONVERSION_H_
-#define PCL_ORGANIZED_CONVERSION_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
@@ -582,6 +581,3 @@ namespace pcl
 
   }
 }
-
-
-#endif
diff --git a/io/include/pcl/io/ascii_io.h b/io/include/pcl/io/ascii_io.h
index 927b6e53205..c8c787e5f46 100644
--- a/io/include/pcl/io/ascii_io.h
+++ b/io/include/pcl/io/ascii_io.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_ASCII_IO_H_
-#define PCL_IO_ASCII_IO_H_
+#pragma once
 
 #include <pcl/io/file_io.h>
 #include <pcl/PCLPointField.h>
@@ -164,9 +163,4 @@ namespace pcl
 	};
 }
 
-
-
-
 #include <pcl/io/impl/ascii_io.hpp>
-
-#endif    // PCL_IO_ASCII_IO_H_
diff --git a/io/include/pcl/io/auto_io.h b/io/include/pcl/io/auto_io.h
index 566c5e2f9dd..2b04f669cf6 100644
--- a/io/include/pcl/io/auto_io.h
+++ b/io/include/pcl/io/auto_io.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_AUTO_IO_H_
-#define PCL_IO_AUTO_IO_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/common/io.h>
@@ -121,5 +120,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/auto_io.hpp>
-
-#endif  //#ifndef PCL_IO_AUTO_IO_H_
diff --git a/io/include/pcl/io/buffers.h b/io/include/pcl/io/buffers.h
index 3e9cdc43409..d5034ed48c6 100644
--- a/io/include/pcl/io/buffers.h
+++ b/io/include/pcl/io/buffers.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_BUFFERS_H
-#define PCL_IO_BUFFERS_H
+#pragma once
 
 #include <vector>
 #include <limits>
@@ -278,6 +277,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/buffers.hpp>
-
-#endif /* PCL_IO_BUFFERS_H */
-
diff --git a/io/include/pcl/io/debayer.h b/io/include/pcl/io/debayer.h
index c3a6f4dada4..c427a2488cc 100644
--- a/io/include/pcl/io/debayer.h
+++ b/io/include/pcl/io/debayer.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_DEBAYER_H
-#define PCL_IO_DEBAYER_H
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <stdlib.h>
@@ -79,6 +78,3 @@ namespace pcl
     };
   }
 }
-
-#endif    // PCL_IO_DEBAYER_H
-
diff --git a/io/include/pcl/io/depth_sense/depth_sense_device_manager.h b/io/include/pcl/io/depth_sense/depth_sense_device_manager.h
index 846e60ad965..d2b432f0238 100644
--- a/io/include/pcl/io/depth_sense/depth_sense_device_manager.h
+++ b/io/include/pcl/io/depth_sense/depth_sense_device_manager.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_DEPTH_SENSE_DEVICE_MANAGER_H
-#define PCL_IO_DEPTH_SENSE_DEVICE_MANAGER_H
+#pragma once
 
 #include <boost/utility.hpp>
 #include <boost/shared_ptr.hpp>
@@ -156,6 +155,3 @@ namespace pcl
   } // namespace io
 
 } // namespace pcl
-
-#endif /* PCL_IO_DEPTH_SENSE_DEVICE_MANAGER_H */
-
diff --git a/io/include/pcl/io/depth_sense/depth_sense_grabber_impl.h b/io/include/pcl/io/depth_sense/depth_sense_grabber_impl.h
index 4e7de968967..1749d095f89 100644
--- a/io/include/pcl/io/depth_sense/depth_sense_grabber_impl.h
+++ b/io/include/pcl/io/depth_sense/depth_sense_grabber_impl.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H
-#define PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H
+#pragma once
 
 #include <boost/thread/mutex.hpp>
 
@@ -155,6 +154,3 @@ namespace pcl
   }
 
 }
-
-#endif /* PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H */
-
diff --git a/io/include/pcl/io/depth_sense_grabber.h b/io/include/pcl/io/depth_sense_grabber.h
index 4473d1a1db4..c8a6ac676ba 100644
--- a/io/include/pcl/io/depth_sense_grabber.h
+++ b/io/include/pcl/io/depth_sense_grabber.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_DEPTH_SENSE_GRABBER_H
-#define PCL_IO_DEPTH_SENSE_GRABBER_H
+#pragma once
 
 #include <pcl/io/grabber.h>
 #include <pcl/point_cloud.h>
@@ -150,6 +149,3 @@ namespace pcl
   };
 
 }
-
-#endif /* PCL_IO_DEPTH_SENSE_GRABBER_H */
-
diff --git a/io/include/pcl/io/dinast_grabber.h b/io/include/pcl/io/dinast_grabber.h
index 429a2287ee1..3cd6790eafd 100644
--- a/io/include/pcl/io/dinast_grabber.h
+++ b/io/include/pcl/io/dinast_grabber.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_IO_DINAST_GRABBER_
-#define PCL_IO_DINAST_GRABBER_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -213,5 +212,3 @@ namespace pcl
       boost::signals2::signal<sig_cb_dinast_point_cloud>* point_cloud_signal_;
   };
 } //namespace pcl
-
-#endif // PCL_IO_DINAST_GRABBER_
diff --git a/io/include/pcl/io/file_grabber.h b/io/include/pcl/io/file_grabber.h
index 7a0812b886a..7db4740e57d 100644
--- a/io/include/pcl/io/file_grabber.h
+++ b/io/include/pcl/io/file_grabber.h
@@ -40,8 +40,6 @@
  */
 
 #pragma once
-#ifndef PCL_IO_FILE_GRABBER_H_
-#define PCL_IO_FILE_GRABBER_H_
 
 #include <pcl/point_cloud.h>
 
@@ -88,5 +86,3 @@ namespace pcl
     }
   };
 }
-#endif//PCL_IO_FILE_GRABBER_H_
-
diff --git a/io/include/pcl/io/file_io.h b/io/include/pcl/io/file_io.h
index c1c613e22b4..2e742597423 100644
--- a/io/include/pcl/io/file_io.h
+++ b/io/include/pcl/io/file_io.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_FILE_IO_H_
-#define PCL_IO_FILE_IO_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/common/io.h>
@@ -391,5 +390,3 @@ namespace pcl
   }
 
 }
-
-#endif  //#ifndef PCL_IO_FILE_IO_H_
diff --git a/io/include/pcl/io/hdl_grabber.h b/io/include/pcl/io/hdl_grabber.h
index 682628e32cd..63deadb31ae 100644
--- a/io/include/pcl/io/hdl_grabber.h
+++ b/io/include/pcl/io/hdl_grabber.h
@@ -36,10 +36,9 @@
  *
  */
 
-#include "pcl/pcl_config.h"
+#pragma once
 
-#ifndef PCL_IO_HDL_GRABBER_H_
-#define PCL_IO_HDL_GRABBER_H_
+#include "pcl/pcl_config.h"
 
 #include <pcl/io/grabber.h>
 #include <pcl/io/impl/synchronized_queue.hpp>
@@ -337,5 +336,3 @@ namespace pcl
 
   };
 }
-
-#endif /* PCL_IO_HDL_GRABBER_H_ */
diff --git a/io/include/pcl/io/ifs_io.h b/io/include/pcl/io/ifs_io.h
index 7eb9450d660..40694744f06 100644
--- a/io/include/pcl/io/ifs_io.h
+++ b/io/include/pcl/io/ifs_io.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_IFS_IO_H_
-#define PCL_IO_IFS_IO_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/PCLPointCloud2.h>
@@ -254,5 +253,3 @@ namespace pcl
     }
   }
 }
-
-#endif  //#ifndef PCL_IO_IFS_IO_H_
diff --git a/io/include/pcl/io/image.h b/io/include/pcl/io/image.h
index e03f1ba4542..5c4115193c0 100644
--- a/io/include/pcl/io/image.h
+++ b/io/include/pcl/io/image.h
@@ -33,9 +33,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
+ 
+#pragma once
+
 #include <pcl/pcl_config.h>
-#ifndef PCL_IO_IMAGE_H_
-#define PCL_IO_IMAGE_H_
 
 #include <pcl/pcl_exports.h>
 #include <pcl/io/boost.h>
@@ -211,5 +212,3 @@ namespace pcl
 
   } // namespace
 }
-
-#endif //PCL_IO_IMAGE_H_
diff --git a/io/include/pcl/io/image_depth.h b/io/include/pcl/io/image_depth.h
index 1b8d5e69c6a..c9e2fc07c0c 100644
--- a/io/include/pcl/io/image_depth.h
+++ b/io/include/pcl/io/image_depth.h
@@ -35,11 +35,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
+
 #pragma once
-#include <pcl/pcl_config.h>
 
-#ifndef PCL_IO_IMAGE_DEPTH_H_
-#define PCL_IO_IMAGE_DEPTH_H_
+#include <pcl/pcl_config.h>
 
 #include <pcl/pcl_exports.h>
 #include <pcl/io/boost.h>
@@ -187,5 +186,3 @@ namespace pcl
     };
 
 }} // namespace
-
-#endif // PCL_IO_IMAGE_DEPTH_H_
diff --git a/io/include/pcl/io/image_ir.h b/io/include/pcl/io/image_ir.h
index ce6a14eaa32..72acff69eeb 100644
--- a/io/include/pcl/io/image_ir.h
+++ b/io/include/pcl/io/image_ir.h
@@ -33,8 +33,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
-#ifndef PCL_IO_IMAGE_IR_H_
-#define PCL_IO_IMAGE_IR_H_
+
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/io/boost.h>
@@ -110,5 +110,3 @@ namespace pcl
 
   } // namespace
 }
-
-#endif // PCL_IO_IMAGE_IR_H_
diff --git a/io/include/pcl/io/image_metadata_wrapper.h b/io/include/pcl/io/image_metadata_wrapper.h
index 19dcb827c8a..fdee257569c 100644
--- a/io/include/pcl/io/image_metadata_wrapper.h
+++ b/io/include/pcl/io/image_metadata_wrapper.h
@@ -38,8 +38,6 @@
  */
 
 #pragma once
-#ifndef PCL_IO_IMAGE_METADATA_WRAPPER_H_
-#define PCL_IO_IMAGE_METADATA_WRAPPER_H_
 
 #include <pcl/pcl_config.h>
 #include <pcl/pcl_macros.h>
@@ -79,5 +77,3 @@ namespace pcl
 
   } // namespace
 }
-
-#endif // PCL_IO_IMAGE_METADATA_WRAPPER_H_
diff --git a/io/include/pcl/io/image_rgb24.h b/io/include/pcl/io/image_rgb24.h
index 41c155dfb57..73e31e67c9f 100644
--- a/io/include/pcl/io/image_rgb24.h
+++ b/io/include/pcl/io/image_rgb24.h
@@ -33,10 +33,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#include <pcl/pcl_config.h>
+ 
+#pragma once
 
-#ifndef PCL_IO_IMAGE_RGB_H_
-#define PCL_IO_IMAGE_RGB_H_
+#include <pcl/pcl_config.h>
 
 #include <pcl/pcl_macros.h>
 #include <boost/chrono.hpp>
@@ -87,5 +87,3 @@ namespace pcl
 
   } // namespace
 }
-
-#endif // PCL_IO_IMAGE_RGB_H_
diff --git a/io/include/pcl/io/image_yuv422.h b/io/include/pcl/io/image_yuv422.h
index 61ecdd74eda..990b90b5547 100644
--- a/io/include/pcl/io/image_yuv422.h
+++ b/io/include/pcl/io/image_yuv422.h
@@ -33,10 +33,10 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
-#include <pcl/pcl_config.h>
 
-#ifndef PCL_IO_IMAGE_YUV422_H_
-#define PCL_IO_IMAGE_YUV422_H_
+#pragma once
+
+#include <pcl/pcl_config.h>
 #include <pcl/pcl_macros.h>
 
 #include <pcl/io/image.h>
@@ -75,5 +75,3 @@ namespace pcl
 
   } // namespace
 }
-
-#endif // PCL_IO_IMAGE_YUV22_H_
diff --git a/io/include/pcl/io/io.h b/io/include/pcl/io/io.h
index 25923d04a6a..e579aab7aa0 100644
--- a/io/include/pcl/io/io.h
+++ b/io/include/pcl/io/io.h
@@ -37,10 +37,6 @@
  *
  */
 
-#ifndef PCL_IO_IO_H_
-#define PCL_IO_IO_H_
+#pragma once
 
 #include <pcl/common/io.h>
-
-#endif  //#ifndef PCL_IO_IO_H_
-
diff --git a/io/include/pcl/io/io_exception.h b/io/include/pcl/io/io_exception.h
index 0586cf480d2..d97ef06c4fc 100644
--- a/io/include/pcl/io/io_exception.h
+++ b/io/include/pcl/io/io_exception.h
@@ -33,10 +33,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <pcl/pcl_config.h>
+#pragma once
 
-#ifndef PCL_IO_EXCEPTION_H_
-#define PCL_IO_EXCEPTION_H_
+#include <pcl/pcl_config.h>
 
 #include <cstdarg>
 #include <cstdio>
@@ -104,4 +103,3 @@ namespace pcl
     }
   } // namespace
 }
-#endif // PCL_IO_EXCEPTION_H_
diff --git a/io/include/pcl/io/lzf.h b/io/include/pcl/io/lzf.h
index 86c1c11f6cd..ad98999cad4 100644
--- a/io/include/pcl/io/lzf.h
+++ b/io/include/pcl/io/lzf.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_LZF_H
-#define PCL_IO_LZF_H
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -87,6 +86,3 @@ namespace pcl
   lzfDecompress (const void *const in_data,  unsigned int in_len,
                  void             *out_data, unsigned int out_len);
 }
-
-#endif  /* PCL_IO_LZF */
-
diff --git a/io/include/pcl/io/lzf_image_io.h b/io/include/pcl/io/lzf_image_io.h
index bdee43774a2..ae54898e7c6 100644
--- a/io/include/pcl/io/lzf_image_io.h
+++ b/io/include/pcl/io/lzf_image_io.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_LZF_IMAGE_IO_H_
-#define PCL_LZF_IMAGE_IO_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
@@ -632,5 +631,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/lzf_image_io.hpp>
-
-#endif  //#ifndef PCL_LZF_IMAGE_IO_H_
diff --git a/io/include/pcl/io/openni2/openni.h b/io/include/pcl/io/openni2/openni.h
index b9f43dea345..bb31ef39870 100644
--- a/io/include/pcl/io/openni2/openni.h
+++ b/io/include/pcl/io/openni2/openni.h
@@ -34,11 +34,12 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#include <pcl/pcl_config.h>
+ 
+#pragma once
+ 
 #ifdef HAVE_OPENNI2
-
-#ifndef PCL_IO_OPENNI2_OPENNI_H_
-#define PCL_IO_OPENNI2_OPENNI_H_
+ 
+#include <pcl/pcl_config.h>
 
 #if defined __GNUC__
 #  pragma GCC system_header
@@ -83,5 +84,4 @@
 #define 	XN_DV_X_RES   960
 #define 	XN_DV_Y_RES   720
 
-#endif // PCL_IO_OPENNI2_OPENNI_H_
 #endif // HAVE_OPENNI2
diff --git a/io/include/pcl/io/openni2/openni2_convert.h b/io/include/pcl/io/openni2/openni2_convert.h
index bfc439e31f3..fe1fe677405 100644
--- a/io/include/pcl/io/openni2/openni2_convert.h
+++ b/io/include/pcl/io/openni2/openni2_convert.h
@@ -30,8 +30,7 @@
  */
 
 
-#ifndef PCL_IO_OPENNI2_CONVERT_H_
-#define PCL_IO_OPENNI2_CONVERT_H_
+#pragma once
 
 #include "pcl/io/openni2/openni2_device_info.h"
 #include "pcl/io/openni2/openni2_video_mode.h"
@@ -61,5 +60,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_CONVERT_H_
diff --git a/io/include/pcl/io/openni2/openni2_device.h b/io/include/pcl/io/openni2/openni2_device.h
index 4ae70f0b35a..499f233dc51 100644
--- a/io/include/pcl/io/openni2/openni2_device.h
+++ b/io/include/pcl/io/openni2/openni2_device.h
@@ -28,8 +28,7 @@
  *
  */
 
-#ifndef PCL_IO_OPENNI2_DEVICE_H_
-#define PCL_IO_OPENNI2_DEVICE_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include "openni.h"
@@ -330,5 +329,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_DEVICE_H_
diff --git a/io/include/pcl/io/openni2/openni2_device_info.h b/io/include/pcl/io/openni2/openni2_device_info.h
index 2954e45e1a2..26b0b12a122 100644
--- a/io/include/pcl/io/openni2/openni2_device_info.h
+++ b/io/include/pcl/io/openni2/openni2_device_info.h
@@ -29,8 +29,7 @@
  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
  */
 
-#ifndef PCL_IO_OPENNI2_DEVICE_INFO_H_
-#define PCL_IO_OPENNI2_DEVICE_INFO_H_
+#pragma once
 
 #include <ostream>
 
@@ -58,5 +57,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_DEVICE_INFO_H_
diff --git a/io/include/pcl/io/openni2/openni2_device_manager.h b/io/include/pcl/io/openni2/openni2_device_manager.h
index e4bee57094a..ee5ddd5a84b 100644
--- a/io/include/pcl/io/openni2/openni2_device_manager.h
+++ b/io/include/pcl/io/openni2/openni2_device_manager.h
@@ -29,8 +29,7 @@
  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
  */
 
-#ifndef PCL_IO_OPENNI2_DEVICE_MANAGER_H_
-#define PCL_IO_OPENNI2_DEVICE_MANAGER_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include "pcl/io/openni2/openni2_device_info.h"
@@ -98,5 +97,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_DEVICE_MANAGER_H_
diff --git a/io/include/pcl/io/openni2/openni2_frame_listener.h b/io/include/pcl/io/openni2/openni2_frame_listener.h
index 6dfcb886910..0ee8551577d 100644
--- a/io/include/pcl/io/openni2/openni2_frame_listener.h
+++ b/io/include/pcl/io/openni2/openni2_frame_listener.h
@@ -35,8 +35,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_IO_OPENNI2_FRAME_LISTENER_H_
-#define PCL_IO_OPENNI2_FRAME_LISTENER_H_
+#pragma once
 
 #include <boost/function.hpp>
 
@@ -85,5 +84,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_FRAME_LISTENER_H_
diff --git a/io/include/pcl/io/openni2/openni2_metadata_wrapper.h b/io/include/pcl/io/openni2/openni2_metadata_wrapper.h
index 4e1cc6c5365..77d574d3b53 100644
--- a/io/include/pcl/io/openni2/openni2_metadata_wrapper.h
+++ b/io/include/pcl/io/openni2/openni2_metadata_wrapper.h
@@ -38,13 +38,11 @@
  */
 
 #pragma once
-#ifndef PCL_IO_OPENNI2_METADATA_WRAPPER_H_
-#define PCL_IO_OPENNI2_METADATA_WRAPPER_H_
-
-#include <pcl/pcl_config.h>
 
 #if defined(HAVE_OPENNI2)
 
+#include <pcl/pcl_config.h>
+
 #include <pcl/io/image_metadata_wrapper.h>
 #include <pcl/io/openni2/openni.h>
 
@@ -112,5 +110,3 @@ namespace pcl
   }
 }
 #endif // HAVE_OPENNI2
-
-#endif // PCL_IO_OPENNI2_METADATA_WRAPPER_H_
diff --git a/io/include/pcl/io/openni2/openni2_timer_filter.h b/io/include/pcl/io/openni2/openni2_timer_filter.h
index c2d78c0ffa0..50d6433e515 100644
--- a/io/include/pcl/io/openni2/openni2_timer_filter.h
+++ b/io/include/pcl/io/openni2/openni2_timer_filter.h
@@ -29,8 +29,7 @@
  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
  */
 
-#ifndef PCL_IO_OPENNI2_TIME_FILTER_H_
-#define PCL_IO_OPENNI2_TIME_FILTER_H_
+#pragma once
 
 #include <deque>
 
@@ -70,5 +69,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif // PCL_IO_OPENNI2_TIME_FILTER_H_
diff --git a/io/include/pcl/io/openni2/openni2_video_mode.h b/io/include/pcl/io/openni2/openni2_video_mode.h
index 7c6fdd8ca10..f3b6edf1c90 100644
--- a/io/include/pcl/io/openni2/openni2_video_mode.h
+++ b/io/include/pcl/io/openni2/openni2_video_mode.h
@@ -29,8 +29,7 @@
  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
  */
 
-#ifndef PCL_IO_OPENNI2_VIDEO_MODE_H_
-#define PCL_IO_OPENNI2_VIDEO_MODE_H_
+#pragma once
 
 #include <cstddef>
 #include <ostream>
@@ -89,5 +88,3 @@ namespace pcl
     } // namespace
   }
 }
-
-#endif
diff --git a/io/include/pcl/io/openni2_grabber.h b/io/include/pcl/io/openni2_grabber.h
index 2a113d5de4c..98620c0d587 100644
--- a/io/include/pcl/io/openni2_grabber.h
+++ b/io/include/pcl/io/openni2_grabber.h
@@ -37,11 +37,10 @@
  *
  */
 
-#include <pcl/pcl_config.h>
+#pragma once
+ 
 #ifdef HAVE_OPENNI2
-
-#ifndef PCL_IO_OPENNI2_GRABBER_H_
-#define PCL_IO_OPENNI2_GRABBER_H_
+#include <pcl/pcl_config.h>
 
 #include <pcl/io/eigen.h>
 #include <pcl/io/boost.h>
@@ -504,5 +503,4 @@ namespace pcl
   } // namespace
 }
 
-#endif // PCL_IO_OPENNI2_GRABBER_H_
 #endif // HAVE_OPENNI2
diff --git a/io/include/pcl/io/pcd_grabber.h b/io/include/pcl/io/pcd_grabber.h
index 38f2633f951..251b7e81710 100644
--- a/io/include/pcl/io/pcd_grabber.h
+++ b/io/include/pcl/io/pcd_grabber.h
@@ -35,10 +35,9 @@
  *
  */
 
-#include <pcl/pcl_config.h>
+#pragma once
 
-#ifndef PCL_IO_PCD_GRABBER_H_
-#define PCL_IO_PCD_GRABBER_H_
+#include <pcl/pcl_config.h>
 
 #include <pcl/common/io.h>
 #include <pcl/io/grabber.h>
@@ -307,4 +306,3 @@ namespace pcl
 #endif
   }
 }
-#endif
diff --git a/io/include/pcl/io/pcd_io.h b/io/include/pcl/io/pcd_io.h
index b6a24c2f913..96d4e24ee98 100644
--- a/io/include/pcl/io/pcd_io.h
+++ b/io/include/pcl/io/pcd_io.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_IO_PCD_IO_H_
-#define PCL_IO_PCD_IO_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/io/file_io.h>
@@ -789,5 +788,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/pcd_io.hpp>
-
-#endif  //#ifndef PCL_IO_PCD_IO_H_
diff --git a/io/include/pcl/io/ply/byte_order.h b/io/include/pcl/io/ply/byte_order.h
index 2af95d01131..067bf7e932d 100644
--- a/io/include/pcl/io/ply/byte_order.h
+++ b/io/include/pcl/io/ply/byte_order.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_IO_PLY_BYTE_ORDER_H
-#define PCL_IO_PLY_BYTE_ORDER_H
+#pragma once
 
 #include <boost/detail/endian.hpp>
 
@@ -105,5 +104,3 @@ namespace pcl
     } // namespace ply
   } // namespace io
 } // namespace pcl
-
-#endif // PLY_BYTE_ORDER_H
diff --git a/io/include/pcl/io/ply/io_operators.h b/io/include/pcl/io/ply/io_operators.h
index 24e16700c2a..31a0fb07fcd 100644
--- a/io/include/pcl/io/ply/io_operators.h
+++ b/io/include/pcl/io/ply/io_operators.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_IO_PLY_IO_OPERATORS_H
-#define PCL_IO_PLY_IO_OPERATORS_H
+#pragma once
 
 #include <istream>
 #include <limits>
@@ -98,5 +97,3 @@ namespace pcl
     } // namespace ply
   } // namespace io
 } // namespace pcl
-
-#endif // PLY_IO_OPERATORS_H
diff --git a/io/include/pcl/io/ply/ply_parser.h b/io/include/pcl/io/ply/ply_parser.h
index 4405d1a4090..33c107f78f4 100644
--- a/io/include/pcl/io/ply/ply_parser.h
+++ b/io/include/pcl/io/ply/ply_parser.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_IO_PLY_PLY_PARSER_H
-#define PCL_IO_PLY_PLY_PARSER_H
+#pragma once
 
 #include <fstream>
 #include <iostream>
@@ -726,5 +725,3 @@ inline bool pcl::io::ply::ply_parser::parse_list_property (format_type format, s
 #    pragma warning(pop)
 #  endif
 #endif
-
-#endif // PCL_IO_PLY_PLY_PARSER_H
diff --git a/io/include/pcl/io/ply_io.h b/io/include/pcl/io/ply_io.h
index 3b525a845d4..e8316d9987b 100644
--- a/io/include/pcl/io/ply_io.h
+++ b/io/include/pcl/io/ply_io.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_IO_PLY_IO_H_
-#define PCL_IO_PLY_IO_H_
+#pragma once
 
 #include <pcl/io/boost.h>
 #include <pcl/io/file_io.h>
@@ -896,5 +895,3 @@ namespace pcl
     savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh &mesh);
   }
 }
-
-#endif  //#ifndef PCL_IO_PLY_IO_H_
diff --git a/io/include/pcl/io/png_io.h b/io/include/pcl/io/png_io.h
index 20814cacdb4..8a5df825ab0 100644
--- a/io/include/pcl/io/png_io.h
+++ b/io/include/pcl/io/png_io.h
@@ -37,8 +37,7 @@
  * Authors: Anatoly Baksheev
  */
 
-#ifndef PCL_IO_PNG_IO_H_
-#define PCL_IO_PNG_IO_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
@@ -162,5 +161,3 @@ namespace pcl
 
   }
 }
-
-#endif  //#ifndef PCL_IO_PNG_IO_H_
diff --git a/io/include/pcl/io/point_cloud_image_extractors.h b/io/include/pcl/io/point_cloud_image_extractors.h
index 0fc4bcbdea1..1ca8e9ce2da 100644
--- a/io/include/pcl/io/point_cloud_image_extractors.h
+++ b/io/include/pcl/io/point_cloud_image_extractors.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
-#define PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
+
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/PCLImage.h>
@@ -436,5 +436,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/point_cloud_image_extractors.hpp>
-
-#endif  //#ifndef PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
diff --git a/io/include/pcl/io/real_sense/real_sense_device_manager.h b/io/include/pcl/io/real_sense/real_sense_device_manager.h
index 4cbb5dd9b53..6d089c92a15 100644
--- a/io/include/pcl/io/real_sense/real_sense_device_manager.h
+++ b/io/include/pcl/io/real_sense/real_sense_device_manager.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_REAL_SENSE_DEVICE_MANAGER_H
-#define PCL_IO_REAL_SENSE_DEVICE_MANAGER_H
+#pragma once
 
 #include <boost/thread.hpp>
 #include <boost/utility.hpp>
@@ -170,6 +169,3 @@ namespace pcl
   } // namespace io
 
 } // namespace pcl
-
-#endif /* PCL_IO_REAL_SENSE_DEVICE_MANAGER_H */
-
diff --git a/io/include/pcl/io/real_sense_grabber.h b/io/include/pcl/io/real_sense_grabber.h
index 583a1ade2c7..635212453d1 100644
--- a/io/include/pcl/io/real_sense_grabber.h
+++ b/io/include/pcl/io/real_sense_grabber.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_REAL_SENSE_GRABBER_H
-#define PCL_IO_REAL_SENSE_GRABBER_H
+#pragma once
 
 #include <boost/thread/thread.hpp>
 #include <boost/thread/mutex.hpp>
@@ -275,6 +274,3 @@ namespace pcl
   };
 
 }
-
-#endif /* PCL_IO_REAL_SENSE_GRABBER_H */
-
diff --git a/io/include/pcl/io/robot_eye_grabber.h b/io/include/pcl/io/robot_eye_grabber.h
index c3c3950645e..6af9e6a646e 100644
--- a/io/include/pcl/io/robot_eye_grabber.h
+++ b/io/include/pcl/io/robot_eye_grabber.h
@@ -35,10 +35,9 @@
  *
  */
 
-#include "pcl/pcl_config.h"
+#pragma once
 
-#ifndef PCL_IO_ROBOT_EYE_GRABBER_H_
-#define PCL_IO_ROBOT_EYE_GRABBER_H_
+#include "pcl/pcl_config.h"
 
 #include <pcl/io/grabber.h>
 #include <pcl/io/impl/synchronized_queue.hpp>
@@ -148,5 +147,3 @@ namespace pcl
       void computeTimestamp (boost::uint32_t& timestamp, unsigned char* point_data);
   };
 }
-
-#endif /* PCL_IO_ROBOT_EYE_GRABBER_H_ */
diff --git a/io/include/pcl/io/tar.h b/io/include/pcl/io/tar.h
index 18e95fdf9ad..210ecc96820 100644
--- a/io/include/pcl/io/tar.h
+++ b/io/include/pcl/io/tar.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_IO_TAR_H_
-#define PCL_IO_TAR_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -98,5 +97,3 @@ namespace pcl
     }
   }
 }
-#endif        // PCL_IO_TAR_H_
-
diff --git a/io/include/pcl/io/vlp_grabber.h b/io/include/pcl/io/vlp_grabber.h
index 64ee63dcff3..3589455a68f 100644
--- a/io/include/pcl/io/vlp_grabber.h
+++ b/io/include/pcl/io/vlp_grabber.h
@@ -36,10 +36,9 @@
  *
  */
 
-#include "pcl/pcl_config.h"
+#pragma once
 
-#ifndef PCL_IO_VLP_GRABBER_H_
-#define PCL_IO_VLP_GRABBER_H_
+#include "pcl/pcl_config.h"
 
 #include <pcl/io/hdl_grabber.h>
 #include <pcl/io/grabber.h>
@@ -124,5 +123,3 @@ namespace pcl
 
   };
 }
-
-#endif /* PCL_IO_VLP_GRABBER_H_ */
diff --git a/io/include/pcl/io/vtk_io.h b/io/include/pcl/io/vtk_io.h
index b965646df6c..a97654e352d 100644
--- a/io/include/pcl/io/vtk_io.h
+++ b/io/include/pcl/io/vtk_io.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_IO_VTK_IO_H_
-#define PCL_IO_VTK_IO_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/PCLPointCloud2.h>
@@ -71,5 +70,3 @@ namespace pcl
     saveVTKFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, unsigned precision = 5);
   }
 }
-
-#endif  //#ifndef PCL_IO_VTK_IO_H_
diff --git a/io/include/pcl/io/vtk_lib_io.h b/io/include/pcl/io/vtk_lib_io.h
index 9dc7a0e3d48..19cc492d920 100644
--- a/io/include/pcl/io/vtk_lib_io.h
+++ b/io/include/pcl/io/vtk_lib_io.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_IO_VTK_LIB_IO_H_
-#define PCL_IO_VTK_LIB_IO_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -270,5 +269,3 @@ namespace pcl
 }
 
 #include <pcl/io/impl/vtk_lib_io.hpp>
-
-#endif /* PLC_IO_VTK_LIB_IO_H_ */
diff --git a/kdtree/include/pcl/kdtree/flann.h b/kdtree/include/pcl/kdtree/flann.h
index 5bbb666c17a..8e3d42d114c 100644
--- a/kdtree/include/pcl/kdtree/flann.h
+++ b/kdtree/include/pcl/kdtree/flann.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_KDTREE_FLANN_H_
-#define PCL_KDTREE_FLANN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -52,7 +51,3 @@
 #if defined _MSC_VER
 #  pragma warning(default: 4267)
 #endif
-
-#endif    // PCL_KDTREE_FLANN_H_
-
-
diff --git a/kdtree/include/pcl/kdtree/io.h b/kdtree/include/pcl/kdtree/io.h
index 68a2a2f7988..a3ebb21f808 100644
--- a/kdtree/include/pcl/kdtree/io.h
+++ b/kdtree/include/pcl/kdtree/io.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_KDTREE_IO_H_
-#define PCL_KDTREE_IO_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -74,6 +73,3 @@ namespace pcl
 }
 
 #include <pcl/kdtree/impl/io.hpp>
-
-#endif  //#ifndef PCL_KDTREE_IO_H_
-
diff --git a/kdtree/include/pcl/kdtree/kdtree.h b/kdtree/include/pcl/kdtree/kdtree.h
index 586e4945e1f..52c9b320da5 100644
--- a/kdtree/include/pcl/kdtree/kdtree.h
+++ b/kdtree/include/pcl/kdtree/kdtree.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_KDTREE_KDTREE_H_
-#define PCL_KDTREE_KDTREE_H_
+#pragma once
 
 #include <limits.h>
 #include <pcl/pcl_macros.h>
@@ -363,5 +362,3 @@ namespace pcl
       getName () const = 0;
   };
 }
-
-#endif  //#ifndef _PCL_KDTREE_KDTREE_H_
diff --git a/kdtree/include/pcl/kdtree/kdtree_flann.h b/kdtree/include/pcl/kdtree/kdtree_flann.h
index 448a937abe8..14127e759cc 100644
--- a/kdtree/include/pcl/kdtree/kdtree_flann.h
+++ b/kdtree/include/pcl/kdtree/kdtree_flann.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_KDTREE_KDTREE_FLANN_H_
-#define PCL_KDTREE_KDTREE_FLANN_H_
+#pragma once
 
 #include <pcl/kdtree/kdtree.h>
 #include <pcl/kdtree/flann.h>
@@ -237,5 +236,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/kdtree/impl/kdtree_flann.hpp>
 #endif
-
-#endif
diff --git a/keypoints/include/pcl/keypoints/agast_2d.h b/keypoints/include/pcl/keypoints/agast_2d.h
index a5779f9dfe5..7316775c83d 100644
--- a/keypoints/include/pcl/keypoints/agast_2d.h
+++ b/keypoints/include/pcl/keypoints/agast_2d.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_H_
-#define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -837,6 +836,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/agast_2d.hpp>
-
-#endif
-
diff --git a/keypoints/include/pcl/keypoints/brisk_2d.h b/keypoints/include/pcl/keypoints/brisk_2d.h
index 74a592194d7..64d31bbe514 100644
--- a/keypoints/include/pcl/keypoints/brisk_2d.h
+++ b/keypoints/include/pcl/keypoints/brisk_2d.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_KEYPOINTS_BRISK_KEYPOINT_2D_H_
-#define PCL_KEYPOINTS_BRISK_KEYPOINT_2D_H_
+#pragma once
 
 #include <pcl/keypoints/agast_2d.h>
 
@@ -483,5 +482,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/brisk_2d.hpp>
-
-#endif
diff --git a/keypoints/include/pcl/keypoints/harris_2d.h b/keypoints/include/pcl/keypoints/harris_2d.h
index a966307033b..1bedb993431 100644
--- a/keypoints/include/pcl/keypoints/harris_2d.h
+++ b/keypoints/include/pcl/keypoints/harris_2d.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_HARRIS_KEYPOINT_2D_H_
-#define PCL_HARRIS_KEYPOINT_2D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 #include <pcl/common/intensity.h>
@@ -194,5 +193,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/harris_2d.hpp>
-
-#endif // #ifndef PCL_HARRIS_KEYPOINT_2D_H_
diff --git a/keypoints/include/pcl/keypoints/harris_3d.h b/keypoints/include/pcl/keypoints/harris_3d.h
index b037155760b..2f03a4455fa 100644
--- a/keypoints/include/pcl/keypoints/harris_3d.h
+++ b/keypoints/include/pcl/keypoints/harris_3d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_HARRIS_KEYPOINT_3D_H_
-#define PCL_HARRIS_KEYPOINT_3D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 
@@ -181,6 +180,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/harris_3d.hpp>
-
-#endif // #ifndef PCL_HARRIS_KEYPOINT_3D_H_
-
diff --git a/keypoints/include/pcl/keypoints/harris_6d.h b/keypoints/include/pcl/keypoints/harris_6d.h
index 37c0e729f60..c1561ef1333 100644
--- a/keypoints/include/pcl/keypoints/harris_6d.h
+++ b/keypoints/include/pcl/keypoints/harris_6d.h
@@ -34,8 +34,7 @@
  *  @author Suat Gedikli
  */
 
-#ifndef PCL_HARRIS_KEYPOINT_6D_H_
-#define PCL_HARRIS_KEYPOINT_6D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 
@@ -139,6 +138,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/harris_6d.hpp>
-
-#endif // #ifndef PCL_HARRIS_KEYPOINT_6D_H_
-
diff --git a/keypoints/include/pcl/keypoints/iss_3d.h b/keypoints/include/pcl/keypoints/iss_3d.h
index 85a70c76368..7ab252280f4 100644
--- a/keypoints/include/pcl/keypoints/iss_3d.h
+++ b/keypoints/include/pcl/keypoints/iss_3d.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_ISS_3D_H_
-#define PCL_ISS_3D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 
@@ -272,5 +271,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/iss_3d.hpp>
-
-#endif /* PCL_ISS_3D_H_ */
diff --git a/keypoints/include/pcl/keypoints/keypoint.h b/keypoints/include/pcl/keypoints/keypoint.h
index 52fdb281e29..e47f39a4cf9 100644
--- a/keypoints/include/pcl/keypoints/keypoint.h
+++ b/keypoints/include/pcl/keypoints/keypoint.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_KEYPOINT_H_
-#define PCL_KEYPOINT_H_
+#pragma once
 
 // PCL includes
 #include <pcl/pcl_base.h>
@@ -207,5 +206,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/keypoint.hpp>
-
-#endif  //#ifndef PCL_KEYPOINT_H_
diff --git a/keypoints/include/pcl/keypoints/narf_keypoint.h b/keypoints/include/pcl/keypoints/narf_keypoint.h
index d4815183427..c0db076b31a 100644
--- a/keypoints/include/pcl/keypoints/narf_keypoint.h
+++ b/keypoints/include/pcl/keypoints/narf_keypoint.h
@@ -35,8 +35,7 @@
 
 /* \author Bastian Steder */
 
-#ifndef PCL_NARF_KEYPOINT_H_
-#define PCL_NARF_KEYPOINT_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
@@ -202,5 +201,3 @@ inline std::ostream&
 }
 
 }  // end namespace pcl
-
-#endif  //#ifndef PCL_NARF_KEYPOINT_H_
diff --git a/keypoints/include/pcl/keypoints/sift_keypoint.h b/keypoints/include/pcl/keypoints/sift_keypoint.h
index 636f3ba78b0..a9a64052c9e 100644
--- a/keypoints/include/pcl/keypoints/sift_keypoint.h
+++ b/keypoints/include/pcl/keypoints/sift_keypoint.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_SIFT_KEYPOINT_H_
-#define PCL_SIFT_KEYPOINT_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 
@@ -202,5 +201,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/sift_keypoint.hpp>
-
-#endif // #ifndef PCL_SIFT_KEYPOINT_H_
diff --git a/keypoints/include/pcl/keypoints/smoothed_surfaces_keypoint.h b/keypoints/include/pcl/keypoints/smoothed_surfaces_keypoint.h
index 489e9bd72d8..45b62b7546d 100644
--- a/keypoints/include/pcl/keypoints/smoothed_surfaces_keypoint.h
+++ b/keypoints/include/pcl/keypoints/smoothed_surfaces_keypoint.h
@@ -35,8 +35,7 @@
  * $Id$
  */
 
-#ifndef PCL_SMOOTHEDSURFACESKEYPOINT_H_
-#define PCL_SMOOTHEDSURFACESKEYPOINT_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 
@@ -132,5 +131,3 @@ namespace pcl
                              const std::pair<float, size_t> &b) { return a.first < b.first; }
   };
 }
-
-#endif /* PCL_SMOOTHEDSURFACESKEYPOINT_H_ */
diff --git a/keypoints/include/pcl/keypoints/susan.h b/keypoints/include/pcl/keypoints/susan.h
index 3a833e7e9ff..6aba0eb5a88 100644
--- a/keypoints/include/pcl/keypoints/susan.h
+++ b/keypoints/include/pcl/keypoints/susan.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_SUSAN_KEYPOINT_H_
-#define PCL_SUSAN_KEYPOINT_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 #include <pcl/common/intensity.h>
@@ -200,5 +199,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/susan.hpp>
-
-#endif // #ifndef PCL_SUSAN_KEYPOINT_H_
diff --git a/keypoints/include/pcl/keypoints/trajkovic_2d.h b/keypoints/include/pcl/keypoints/trajkovic_2d.h
index 7458f96b9b9..575401649ee 100644
--- a/keypoints/include/pcl/keypoints/trajkovic_2d.h
+++ b/keypoints/include/pcl/keypoints/trajkovic_2d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_
-#define PCL_TRAJKOVIC_KEYPOINT_2D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 #include <pcl/common/intensity.h>
@@ -172,5 +171,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/trajkovic_2d.hpp>
-
-#endif // #ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_
diff --git a/keypoints/include/pcl/keypoints/trajkovic_3d.h b/keypoints/include/pcl/keypoints/trajkovic_3d.h
index 8a58e464b85..6c1e71fe9e2 100644
--- a/keypoints/include/pcl/keypoints/trajkovic_3d.h
+++ b/keypoints/include/pcl/keypoints/trajkovic_3d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_TRAJKOVIC_KEYPOINT_3D_H_
-#define PCL_TRAJKOVIC_KEYPOINT_3D_H_
+#pragma once
 
 #include <pcl/keypoints/keypoint.h>
 #include <pcl/common/intensity.h>
@@ -214,5 +213,3 @@ namespace pcl
 }
 
 #include <pcl/keypoints/impl/trajkovic_3d.hpp>
-
-#endif // #ifndef PCL_TRAJKOVIC_KEYPOINT_3D_H_
diff --git a/keypoints/include/pcl/keypoints/uniform_sampling.h b/keypoints/include/pcl/keypoints/uniform_sampling.h
index 4e080d9fb34..7266dcfe159 100644
--- a/keypoints/include/pcl/keypoints/uniform_sampling.h
+++ b/keypoints/include/pcl/keypoints/uniform_sampling.h
@@ -37,14 +37,10 @@
  *
  */
 
-#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
-#define PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
+#pragma once
 
 #ifdef __DEPRECATED
 #warning UniformSampling is not a Keypoint anymore, use <pcl/filters/uniform_sampling.h> instead.
 #endif
 
 #include <pcl/filters/uniform_sampling.h>
-
-#endif  //#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
-
diff --git a/ml/include/pcl/ml/branch_estimator.h b/ml/include/pcl/ml/branch_estimator.h
index 62a291d04d6..859f38816d1 100644
--- a/ml/include/pcl/ml/branch_estimator.h
+++ b/ml/include/pcl/ml/branch_estimator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_BRANCH_ESTIMATOR_H_
-#define PCL_ML_BRANCH_ESTIMATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 #include <pcl/ml/stats_estimator.h>
@@ -145,5 +144,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/densecrf.h b/ml/include/pcl/ml/densecrf.h
index 7b7f9da44a6..976bbc00788 100644
--- a/ml/include/pcl/ml/densecrf.h
+++ b/ml/include/pcl/ml/densecrf.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_DENSE_CRF_H_
-#define PCL_DENSE_CRF_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -162,9 +161,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-
-
-
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_forest.h b/ml/include/pcl/ml/dt/decision_forest.h
index e281400a5c4..5917e7ade33 100644
--- a/ml/include/pcl/ml/dt/decision_forest.h
+++ b/ml/include/pcl/ml/dt/decision_forest.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_FOREST_H_
-#define PCL_ML_DT_DECISION_FOREST_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -131,5 +130,3 @@ namespace pcl
 
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_forest_evaluator.h b/ml/include/pcl/ml/dt/decision_forest_evaluator.h
index 2dc648be6dc..7d38ae5cd1f 100644
--- a/ml/include/pcl/ml/dt/decision_forest_evaluator.h
+++ b/ml/include/pcl/ml/dt/decision_forest_evaluator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_FOREST_EVALUATOR_H_
-#define PCL_ML_DT_DECISION_FOREST_EVALUATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -106,5 +105,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/dt/decision_forest_evaluator.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_forest_trainer.h b/ml/include/pcl/ml/dt/decision_forest_trainer.h
index 563dc260793..28cbf0caf08 100644
--- a/ml/include/pcl/ml/dt/decision_forest_trainer.h
+++ b/ml/include/pcl/ml/dt/decision_forest_trainer.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_FOREST_TRAINER_H_
-#define PCL_ML_DT_DECISION_FOREST_TRAINER_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -205,5 +204,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/dt/decision_forest_trainer.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_tree.h b/ml/include/pcl/ml/dt/decision_tree.h
index f0b8c8f9f86..b3343d19e98 100644
--- a/ml/include/pcl/ml/dt/decision_tree.h
+++ b/ml/include/pcl/ml/dt/decision_tree.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_TREE
-#define PCL_ML_DT_DECISION_TREE
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -101,5 +100,3 @@ namespace pcl
 
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_tree_evaluator.h b/ml/include/pcl/ml/dt/decision_tree_evaluator.h
index 1ce4c6e785a..1c739e00ed2 100644
--- a/ml/include/pcl/ml/dt/decision_tree_evaluator.h
+++ b/ml/include/pcl/ml/dt/decision_tree_evaluator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_TREE_EVALUATOR_H_
-#define PCL_ML_DT_DECISION_TREE_EVALUATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -136,5 +135,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/dt/decision_tree_evaluator.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/dt/decision_tree_trainer.h b/ml/include/pcl/ml/dt/decision_tree_trainer.h
index 33c326053c2..7264c0fd27f 100644
--- a/ml/include/pcl/ml/dt/decision_tree_trainer.h
+++ b/ml/include/pcl/ml/dt/decision_tree_trainer.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_DECISION_TREE_TRAINER_H_
-#define PCL_ML_DT_DECISION_TREE_TRAINER_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -242,5 +241,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/dt/decision_tree_trainer.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/feature_handler.h b/ml/include/pcl/ml/feature_handler.h
index ed5309f5948..744bb6a2ca1 100644
--- a/ml/include/pcl/ml/feature_handler.h
+++ b/ml/include/pcl/ml/feature_handler.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_FEATURE_HANDLER_H_
-#define PCL_ML_DT_FEATURE_HANDLER_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -105,5 +104,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/ferns/fern.h b/ml/include/pcl/ml/ferns/fern.h
index beedaf5518f..67f8c65abac 100644
--- a/ml/include/pcl/ml/ferns/fern.h
+++ b/ml/include/pcl/ml/ferns/fern.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_FERNS_FERN
-#define PCL_ML_FERNS_FERN
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -211,5 +210,3 @@ namespace pcl
 
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/ferns/fern_evaluator.h b/ml/include/pcl/ml/ferns/fern_evaluator.h
index 1f43760114c..2c479a86d56 100644
--- a/ml/include/pcl/ml/ferns/fern_evaluator.h
+++ b/ml/include/pcl/ml/ferns/fern_evaluator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_FERNS_FERN_EVALUATOR_H_
-#define PCL_ML_FERNS_FERN_EVALUATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -120,5 +119,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/ferns/fern_evaluator.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/ferns/fern_trainer.h b/ml/include/pcl/ml/ferns/fern_trainer.h
index 3f5f48f9f55..eaf35e1d9cf 100644
--- a/ml/include/pcl/ml/ferns/fern_trainer.h
+++ b/ml/include/pcl/ml/ferns/fern_trainer.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_FERNS_FERN_TRAINER_H_
-#define PCL_ML_FERNS_FERN_TRAINER_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -178,5 +177,3 @@ namespace pcl
 }
 
 #include <pcl/ml/impl/ferns/fern_trainer.hpp>
-
-#endif
diff --git a/ml/include/pcl/ml/kmeans.h b/ml/include/pcl/ml/kmeans.h
index 459ecb3001a..efa7a6f071e 100644
--- a/ml/include/pcl/ml/kmeans.h
+++ b/ml/include/pcl/ml/kmeans.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_KMEANS_H_
-#define PCL_KMEANS_H_
+#pragma once
 
 #include <set>
 
@@ -205,5 +204,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
 }
-
-#endif
diff --git a/ml/include/pcl/ml/multi_channel_2d_comparison_feature.h b/ml/include/pcl/ml/multi_channel_2d_comparison_feature.h
index b8cede5f6f5..eceb155c050 100644
--- a/ml/include/pcl/ml/multi_channel_2d_comparison_feature.h
+++ b/ml/include/pcl/ml/multi_channel_2d_comparison_feature.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_MULTI_CHANNEL_2D_COMPARISON_FEATURE_H_
-#define PCL_ML_MULTI_CHANNEL_2D_COMPARISON_FEATURE_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -89,5 +88,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/multi_channel_2d_comparison_feature_handler.h b/ml/include/pcl/ml/multi_channel_2d_comparison_feature_handler.h
index 7650ab13a4d..62f6b05518b 100644
--- a/ml/include/pcl/ml/multi_channel_2d_comparison_feature_handler.h
+++ b/ml/include/pcl/ml/multi_channel_2d_comparison_feature_handler.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_MULTI_CHANNEL_2D_COMPARISON_FEATURE_HANDLER_H_
-#define PCL_ML_MULTI_CHANNEL_2D_COMPARISON_FEATURE_HANDLER_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -394,5 +393,3 @@ namespace pcl
   typedef ScaledMultiChannel2DComparisonFeatureHandlerCCodeGenerator<float, 1, 0, true> ScaledDepth2DComparisonFeatureHandlerCCodeGenerator;
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/multi_channel_2d_data_set.h b/ml/include/pcl/ml/multi_channel_2d_data_set.h
index 99e6d094d13..e971b566e12 100644
--- a/ml/include/pcl/ml/multi_channel_2d_data_set.h
+++ b/ml/include/pcl/ml/multi_channel_2d_data_set.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_MULTI_CHANNEL_2D_DATA_SET_H_
-#define PCL_ML_MULTI_CHANNEL_2D_DATA_SET_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -232,5 +231,3 @@ namespace pcl
   typedef MultiChannel2DDataSet<float, 4> RGBD2DDataSet;
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/multiple_data_2d_example_index.h b/ml/include/pcl/ml/multiple_data_2d_example_index.h
index 239eb708d29..e77879e0bed 100644
--- a/ml/include/pcl/ml/multiple_data_2d_example_index.h
+++ b/ml/include/pcl/ml/multiple_data_2d_example_index.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_MULTIPLE_DATA_2D_EXAMPLE_INDEX_H_
-#define PCL_ML_MULTIPLE_DATA_2D_EXAMPLE_INDEX_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -59,5 +58,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/pairwise_potential.h b/ml/include/pcl/ml/pairwise_potential.h
index a9e3b458ff9..2d1391408a9 100644
--- a/ml/include/pcl/ml/pairwise_potential.h
+++ b/ml/include/pcl/ml/pairwise_potential.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_PAIRWISE_POTENTIAL_H_
-#define PCL_PAIRWISE_POTENTIAL_H_
+#pragma once
 
 #include <vector>
 
@@ -84,5 +83,3 @@ namespace pcl
 
   };
 }
-
-#endif
diff --git a/ml/include/pcl/ml/permutohedral.h b/ml/include/pcl/ml/permutohedral.h
index 09976933bd1..cb28ae59088 100644
--- a/ml/include/pcl/ml/permutohedral.h
+++ b/ml/include/pcl/ml/permutohedral.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_ML_PERMUTOHEDRAL_H_
-#define PCL_ML_PERMUTOHEDRAL_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -269,5 +268,3 @@ namespace pcl
   };*/
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/point_xy_32f.h b/ml/include/pcl/ml/point_xy_32f.h
index a01cb290a0b..86d79606a93 100644
--- a/ml/include/pcl/ml/point_xy_32f.h
+++ b/ml/include/pcl/ml/point_xy_32f.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_POINT_XY_32F_H_
-#define PCL_ML_POINT_XY_32F_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -92,5 +91,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/point_xy_32i.h b/ml/include/pcl/ml/point_xy_32i.h
index 6e96fb62192..4abac33af96 100644
--- a/ml/include/pcl/ml/point_xy_32i.h
+++ b/ml/include/pcl/ml/point_xy_32i.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_POINT_XY_32I_H_
-#define PCL_ML_POINT_XY_32I_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -92,5 +91,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/regression_variance_stats_estimator.h b/ml/include/pcl/ml/regression_variance_stats_estimator.h
index ef7c247877f..d306cddab18 100644
--- a/ml/include/pcl/ml/regression_variance_stats_estimator.h
+++ b/ml/include/pcl/ml/regression_variance_stats_estimator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_REGRESSION_VARIANCE_STATS_ESTIMATOR_H_
-#define PCL_ML_REGRESSION_VARIANCE_STATS_ESTIMATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 #include <pcl/ml/stats_estimator.h>
@@ -325,5 +324,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/stats_estimator.h b/ml/include/pcl/ml/stats_estimator.h
index 374e1334e82..cd54e800012 100644
--- a/ml/include/pcl/ml/stats_estimator.h
+++ b/ml/include/pcl/ml/stats_estimator.h
@@ -35,8 +35,7 @@
  *
  */
   
-#ifndef PCL_ML_DT_STATS_ESTIMATOR_H_
-#define PCL_ML_DT_STATS_ESTIMATOR_H_
+#pragma once
 
 #include <pcl/common/common.h>
 
@@ -141,5 +140,3 @@ namespace pcl
   };
 
 }
-
-#endif
diff --git a/ml/include/pcl/ml/svm_wrapper.h b/ml/include/pcl/ml/svm_wrapper.h
index 6ddc7ed7e6a..34f0bfcf69f 100755
--- a/ml/include/pcl/ml/svm_wrapper.h
+++ b/ml/include/pcl/ml/svm_wrapper.h
@@ -36,8 +36,7 @@
   *
   */
 
-#ifndef PCL_SVM_WRAPPER_H_
-#define PCL_SVM_WRAPPER_H_
+#pragma once
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -533,5 +532,3 @@ namespace pcl
       };
   };
 }
-
-#endif // PCL_SVM_WRAPPER_H_
diff --git a/octree/include/pcl/octree/boost.h b/octree/include/pcl/octree/boost.h
index f1c8c18bcea..f5cde574898 100644
--- a/octree/include/pcl/octree/boost.h
+++ b/octree/include/pcl/octree/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_OCTREE_BOOST_H_
-#define PCL_OCTREE_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -47,4 +46,3 @@
 // Marking all Boost headers as system headers to remove warnings
 #include <boost/graph/adjacency_list.hpp>
 #include <boost/function.hpp>
-#endif    // PCL_OCTREE_BOOST_H_
diff --git a/octree/include/pcl/octree/octree.h b/octree/include/pcl/octree/octree.h
index e66298900da..b35781765dd 100644
--- a/octree/include/pcl/octree/octree.h
+++ b/octree/include/pcl/octree/octree.h
@@ -36,9 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_H
-#define PCL_OCTREE_H
-
+#pragma once
 
 #include <pcl/octree/octree_base.h>
 #include <pcl/octree/octree2buf_base.h>
@@ -54,5 +52,3 @@
 #include <pcl/octree/octree_pointcloud_adjacency.h>
 
 #include <pcl/octree/octree_search.h>
-
-#endif
diff --git a/octree/include/pcl/octree/octree2buf_base.h b/octree/include/pcl/octree/octree2buf_base.h
index 15b678de82f..8043b30ee5c 100644
--- a/octree/include/pcl/octree/octree2buf_base.h
+++ b/octree/include/pcl/octree/octree2buf_base.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_TREE_2BUF_BASE_H
-#define PCL_OCTREE_TREE_2BUF_BASE_H
+#pragma once
 
 #include <vector>
 
@@ -962,6 +961,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/octree/impl/octree2buf_base.hpp>
 #endif
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_base.h b/octree/include/pcl/octree/octree_base.h
index 0a4b2133cd3..4eb7f0e2ebe 100644
--- a/octree/include/pcl/octree/octree_base.h
+++ b/octree/include/pcl/octree/octree_base.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_TREE_BASE_H
-#define PCL_OCTREE_TREE_BASE_H
+#pragma once
 
 #include <vector>
 
@@ -679,6 +678,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/octree/impl/octree_base.hpp>
 #endif
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_container.h b/octree/include/pcl/octree/octree_container.h
index be62dd80c0f..87b43ca6297 100644
--- a/octree/include/pcl/octree/octree_container.h
+++ b/octree/include/pcl/octree/octree_container.h
@@ -36,8 +36,7 @@
  * $Id: octree_nodes.h 5596 2012-04-17 15:09:31Z jkammerl $
  */
 
-#ifndef PCL_OCTREE_CONTAINER_H
-#define PCL_OCTREE_CONTAINER_H
+#pragma once
 
 #include <vector>
 #include <cstddef>
@@ -395,5 +394,3 @@ namespace pcl
 
   }
 }
-
-#endif
diff --git a/octree/include/pcl/octree/octree_impl.h b/octree/include/pcl/octree/octree_impl.h
index 54a495c09ea..0a6f3075802 100644
--- a/octree/include/pcl/octree/octree_impl.h
+++ b/octree/include/pcl/octree/octree_impl.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_IMPL_H
-#define PCL_OCTREE_IMPL_H
+#pragma once
 
 #include <pcl/octree/octree.h>
 
@@ -46,5 +45,3 @@
 #include <pcl/octree/impl/octree_pointcloud.hpp>
 #include <pcl/octree/impl/octree_iterator.hpp>
 #include <pcl/octree/impl/octree_search.hpp>
-
-#endif
diff --git a/octree/include/pcl/octree/octree_iterator.h b/octree/include/pcl/octree/octree_iterator.h
index cef9a9890bf..e604240718e 100644
--- a/octree/include/pcl/octree/octree_iterator.h
+++ b/octree/include/pcl/octree/octree_iterator.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_ITERATOR_H
-#define PCL_OCTREE_ITERATOR_H
+#pragma once
 
 #include <cstddef>
 #include <vector>
@@ -824,6 +823,3 @@ namespace pcl
  * Note: Since octree iterators depend on octrees, don't precompile them.
  */
 #include <pcl/octree/impl/octree_iterator.hpp>
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_key.h b/octree/include/pcl/octree/octree_key.h
index dbde982185f..85c85872de3 100644
--- a/octree/include/pcl/octree/octree_key.h
+++ b/octree/include/pcl/octree/octree_key.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_OCTREE_KEY_H
-#define PCL_OCTREE_KEY_H
+#pragma once
 
 namespace pcl
 {
@@ -159,5 +158,3 @@ namespace pcl
     };
   }
 }
-
-#endif
diff --git a/octree/include/pcl/octree/octree_node_pool.h b/octree/include/pcl/octree/octree_node_pool.h
index 62568c82826..7d54ea16818 100644
--- a/octree/include/pcl/octree/octree_node_pool.h
+++ b/octree/include/pcl/octree/octree_node_pool.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_OCTREE_NODE_POOL_H
-#define PCL_OCTREE_NODE_POOL_H
+#pragma once
 
 #include <vector>
 
@@ -125,5 +124,3 @@ namespace pcl
 
   }
 }
-
-#endif
diff --git a/octree/include/pcl/octree/octree_nodes.h b/octree/include/pcl/octree/octree_nodes.h
index 07ce67d66e5..8c7aefcaa84 100644
--- a/octree/include/pcl/octree/octree_nodes.h
+++ b/octree/include/pcl/octree/octree_nodes.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_NODE_H
-#define PCL_OCTREE_NODE_H
+#pragma once
 
 #include <cstddef>
 
@@ -396,5 +395,3 @@ namespace pcl
       };
   }
 }
-
-#endif
diff --git a/octree/include/pcl/octree/octree_pointcloud.h b/octree/include/pcl/octree/octree_pointcloud.h
index ba9e37d0b97..edaffa5967d 100644
--- a/octree/include/pcl/octree/octree_pointcloud.h
+++ b/octree/include/pcl/octree/octree_pointcloud.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_POINTCLOUD_H
-#define PCL_OCTREE_POINTCLOUD_H
+#pragma once
 
 #include <pcl/octree/octree_base.h>
 
@@ -550,6 +549,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/octree/impl/octree_pointcloud.hpp>
 #endif
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_pointcloud_adjacency.h b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
index d7a894fe30a..ad253ce47af 100644
--- a/octree/include/pcl/octree/octree_pointcloud_adjacency.h
+++ b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
@@ -37,8 +37,7 @@
  *  Email  : jpapon@gmail.com
  */
 
-#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
-#define PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
+#pragma once
 
 #include <pcl/octree/boost.h>
 #include <pcl/octree/octree_pointcloud.h>
@@ -227,6 +226,3 @@ namespace pcl
 
 // Note: Do not precompile this octree type because it is typically used with custom leaf containers.
 #include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
-
-#endif // PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
-
diff --git a/octree/include/pcl/octree/octree_pointcloud_adjacency_container.h b/octree/include/pcl/octree/octree_pointcloud_adjacency_container.h
index 45782b236c1..e98f403e4b0 100644
--- a/octree/include/pcl/octree/octree_pointcloud_adjacency_container.h
+++ b/octree/include/pcl/octree/octree_pointcloud_adjacency_container.h
@@ -37,8 +37,7 @@
  *  Email  : jpapon@gmail.com
  */
 
-#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_
-#define PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_
+#pragma once
 
 namespace pcl
 { 
@@ -196,5 +195,3 @@ namespace pcl
     };
   }
 }
-
-#endif
diff --git a/octree/include/pcl/octree/octree_pointcloud_changedetector.h b/octree/include/pcl/octree/octree_pointcloud_changedetector.h
index 3de95ad9766..4dc6a0c52f4 100644
--- a/octree/include/pcl/octree/octree_pointcloud_changedetector.h
+++ b/octree/include/pcl/octree/octree_pointcloud_changedetector.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_CHANGEDETECTOR_H
-#define PCL_OCTREE_CHANGEDETECTOR_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 #include <pcl/octree/octree2buf_base.h>
@@ -110,6 +109,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_pointcloud_density.h b/octree/include/pcl/octree/octree_pointcloud_density.h
index 9137a39bd8c..2dbf347fa80 100644
--- a/octree/include/pcl/octree/octree_pointcloud_density.h
+++ b/octree/include/pcl/octree/octree_pointcloud_density.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_DENSITY_H
-#define PCL_OCTREE_DENSITY_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 
@@ -157,6 +156,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_pointcloud_occupancy.h b/octree/include/pcl/octree/octree_pointcloud_occupancy.h
index 7510257d13c..f65987142ca 100644
--- a/octree/include/pcl/octree/octree_pointcloud_occupancy.h
+++ b/octree/include/pcl/octree/octree_pointcloud_occupancy.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_OCCUPANCY_H
-#define PCL_OCTREE_OCCUPANCY_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 
@@ -127,6 +126,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_pointcloud_pointvector.h b/octree/include/pcl/octree/octree_pointcloud_pointvector.h
index d5b6a140a80..0cdb3c0bb97 100644
--- a/octree/include/pcl/octree/octree_pointcloud_pointvector.h
+++ b/octree/include/pcl/octree/octree_pointcloud_pointvector.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_POINT_VECTOR_H
-#define PCL_OCTREE_POINT_VECTOR_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 
@@ -88,5 +87,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_OctreePointCloudPointVector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudPointVector<T>;
-
-#endif
diff --git a/octree/include/pcl/octree/octree_pointcloud_singlepoint.h b/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
index 7300ac030bb..3c95e44df33 100644
--- a/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
+++ b/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_SINGLE_POINT_H
-#define PCL_OCTREE_SINGLE_POINT_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 
@@ -89,5 +88,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_OctreePointCloudSinglePoint(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSinglePoint<T>;
-
-#endif
diff --git a/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h b/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
index 68840f9400c..86377d9cfad 100644
--- a/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
+++ b/octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_VOXELCENTROID_H
-#define PCL_OCTREE_VOXELCENTROID_H
+#pragma once
 
 #include <pcl/octree/octree_pointcloud.h>
 
@@ -230,6 +229,3 @@ namespace pcl
 
 // Note: Don't precompile this octree type to speed up compilation. It's probably rarely used.
 #include <pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp>
-
-#endif
-
diff --git a/octree/include/pcl/octree/octree_search.h b/octree/include/pcl/octree/octree_search.h
index 165f7faf437..e464a704f9c 100644
--- a/octree/include/pcl/octree/octree_search.h
+++ b/octree/include/pcl/octree/octree_search.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OCTREE_SEARCH_H_
-#define PCL_OCTREE_SEARCH_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -603,5 +602,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/octree/impl/octree_search.hpp>
 #endif
-
-#endif    // PCL_OCTREE_SEARCH_H_
diff --git a/outofcore/include/pcl/outofcore/boost.h b/outofcore/include/pcl/outofcore/boost.h
index 951fffb78a5..e0e1e65daf8 100644
--- a/outofcore/include/pcl/outofcore/boost.h
+++ b/outofcore/include/pcl/outofcore/boost.h
@@ -36,8 +36,7 @@
  *  $Id: boost.h 6913 2012-08-22 09:37:26Z stfox88 $
  */
 
-#ifndef PCL_OUTOFCORE_BOOST_H_
-#define PCL_OUTOFCORE_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -54,5 +53,3 @@
 #include <boost/random/bernoulli_distribution.hpp>
 #include <boost/foreach.hpp>
 #include <boost/lexical_cast.hpp>
-
-#endif //PCL_OUTOFCORE_BOOST_H_
diff --git a/outofcore/include/pcl/outofcore/metadata.h b/outofcore/include/pcl/outofcore/metadata.h
index 6f68d8ad06a..dfe0694c689 100644
--- a/outofcore/include/pcl/outofcore/metadata.h
+++ b/outofcore/include/pcl/outofcore/metadata.h
@@ -36,9 +36,7 @@
  *  $Id$
  */
 
-
-#ifndef PCL_OUTOFCORE_METADATA_H_
-#define PCL_OUTOFCORE_METADATA_H_
+#pragma once
 
 #include <pcl/outofcore/boost.h>
 #include <vector>
@@ -94,5 +92,3 @@ namespace pcl
     
   }//namespace outofcore
 }//namespace pcl
-
-#endif //PCL_OUTOFCORE_METADATA_H_
diff --git a/outofcore/include/pcl/outofcore/octree_abstract_node_container.h b/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
index 8aeef7a25b7..a54fc6d2be8 100644
--- a/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
+++ b/outofcore/include/pcl/outofcore/octree_abstract_node_container.h
@@ -36,8 +36,7 @@
  *  $Id: octree_abstract_node_container.h 6802M 2012-08-25 00:11:05Z (local) $
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_
-#define PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_
+#pragma once
 
 #include <vector>
 #include <string>
@@ -101,5 +100,3 @@ namespace pcl
     };
   }//namespace outofcore
 }//namespace pcl
-
-#endif //PCL_OUTOFCORE_OCTREE_ABSTRACT_CONTAINER_H_
diff --git a/outofcore/include/pcl/outofcore/octree_base.h b/outofcore/include/pcl/outofcore/octree_base.h
index 261600e96e2..e9dfabb698a 100644
--- a/outofcore/include/pcl/outofcore/octree_base.h
+++ b/outofcore/include/pcl/outofcore/octree_base.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_OUTOFCORE_OUTOFCOREOCTREEBASE_H_
-#define PCL_OUTOFCORE_OUTOFCOREOCTREEBASE_H_
+#pragma once
 
 #include <pcl/outofcore/boost.h>
 #include <pcl/common/io.h>
@@ -662,6 +661,3 @@ namespace pcl
     };
   }
 }
-
-  
-#endif // PCL_OUTOFCORE_OUTOFCOREOCTREEBASE_H_
diff --git a/outofcore/include/pcl/outofcore/octree_base_node.h b/outofcore/include/pcl/outofcore/octree_base_node.h
index a39202ac540..c216de97b5c 100644
--- a/outofcore/include/pcl/outofcore/octree_base_node.h
+++ b/outofcore/include/pcl/outofcore/octree_base_node.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_BASE_NODE_H_
-#define PCL_OUTOFCORE_OCTREE_BASE_NODE_H_
+#pragma once
 
 #include <pcl/common/io.h>
 #include <pcl/PCLPointCloud2.h>
@@ -573,5 +572,3 @@ namespace pcl
     };
   }//namespace outofcore
 }//namespace pcl
-
-#endif //PCL_OUTOFCORE_OCTREE_BASE_NODE_H_
diff --git a/outofcore/include/pcl/outofcore/octree_disk_container.h b/outofcore/include/pcl/outofcore/octree_disk_container.h
index d10af697bf0..f72458ef11f 100644
--- a/outofcore/include/pcl/outofcore/octree_disk_container.h
+++ b/outofcore/include/pcl/outofcore/octree_disk_container.h
@@ -37,8 +37,7 @@
  *  $Id: octree_disk_container.h 6927M 2012-08-24 13:26:40Z (local) $
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_DISK_CONTAINER_H_
-#define PCL_OUTOFCORE_OCTREE_DISK_CONTAINER_H_
+#pragma once
 
 // C++
 #include <vector>
@@ -301,5 +300,3 @@ namespace pcl
     };
   } //namespace outofcore
 } //namespace pcl
-
-#endif //PCL_OUTOFCORE_OCTREE_DISK_CONTAINER_H_
diff --git a/outofcore/include/pcl/outofcore/octree_ram_container.h b/outofcore/include/pcl/outofcore/octree_ram_container.h
index 2ab72bfa5a0..021ec0c6a6a 100644
--- a/outofcore/include/pcl/outofcore/octree_ram_container.h
+++ b/outofcore/include/pcl/outofcore/octree_ram_container.h
@@ -37,8 +37,7 @@
  *  $Id$
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_
-#define PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_
+#pragma once
 
 // C++
 #include <vector>
@@ -170,5 +169,3 @@ namespace pcl
     };
   }
 }
-
-#endif //PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_
diff --git a/outofcore/include/pcl/outofcore/outofcore_base_data.h b/outofcore/include/pcl/outofcore/outofcore_base_data.h
index 8c2fd70d9f1..b9c20ff9cdc 100644
--- a/outofcore/include/pcl/outofcore/outofcore_base_data.h
+++ b/outofcore/include/pcl/outofcore/outofcore_base_data.h
@@ -36,8 +36,7 @@
  *  $Id$
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
-#define PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/outofcore/boost.h>
@@ -219,5 +218,3 @@ namespace pcl
     };
   }//namespace outofcore
 }//namespace pcl
-  
-#endif // PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
diff --git a/outofcore/include/pcl/outofcore/outofcore_breadth_first_iterator.h b/outofcore/include/pcl/outofcore/outofcore_breadth_first_iterator.h
index 3961519095b..ed2a108e829 100644
--- a/outofcore/include/pcl/outofcore/outofcore_breadth_first_iterator.h
+++ b/outofcore/include/pcl/outofcore/outofcore_breadth_first_iterator.h
@@ -36,8 +36,7 @@
  * $Id: outofcore_depth_first_iterator.h 7938 2012-11-14 06:27:39Z jrosen $
  */
 
-#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
-#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
+#pragma once
 
 #include <pcl/outofcore/outofcore_iterator_base.h>
 namespace pcl
@@ -105,5 +104,3 @@ namespace pcl
     };
   }
 }
-
-#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
diff --git a/outofcore/include/pcl/outofcore/outofcore_depth_first_iterator.h b/outofcore/include/pcl/outofcore/outofcore_depth_first_iterator.h
index e110fb5583d..1a01e547b09 100644
--- a/outofcore/include/pcl/outofcore/outofcore_depth_first_iterator.h
+++ b/outofcore/include/pcl/outofcore/outofcore_depth_first_iterator.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
-#define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
+#pragma once
 
 #include <pcl/outofcore/outofcore_iterator_base.h>
 namespace pcl
@@ -86,5 +85,3 @@ namespace pcl
     };
   }
 }
-
-#endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
diff --git a/outofcore/include/pcl/outofcore/outofcore_iterator_base.h b/outofcore/include/pcl/outofcore/outofcore_iterator_base.h
index a409395a8a1..aeae9841f55 100644
--- a/outofcore/include/pcl/outofcore/outofcore_iterator_base.h
+++ b/outofcore/include/pcl/outofcore/outofcore_iterator_base.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_OUTOFCORE_ITERATOR_BASE_H_
-#define PCL_OUTOFCORE_ITERATOR_BASE_H_
+#pragma once
 
 #include <iterator>
 
@@ -155,5 +154,3 @@ namespace pcl
 #endif
   }
 }
-
-#endif //PCL_OUTOFCORE_ITERATOR_BASE_H_
diff --git a/outofcore/include/pcl/outofcore/outofcore_node_data.h b/outofcore/include/pcl/outofcore/outofcore_node_data.h
index 0e3febb8fab..e9f7ba855ad 100644
--- a/outofcore/include/pcl/outofcore/outofcore_node_data.h
+++ b/outofcore/include/pcl/outofcore/outofcore_node_data.h
@@ -36,8 +36,7 @@
  *  $Id: outofcore_node_data.h 6915 2012-08-22 10:54:21Z stfox88 $
  */
 
-#ifndef PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_
-#define PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/outofcore/boost.h>
@@ -186,5 +185,3 @@ namespace pcl
     };
   }//namespace outofcore
 }//namespace pcl
-  
-#endif // PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_
diff --git a/outofcore/include/pcl/outofcore/visualization/axes.h b/outofcore/include/pcl/outofcore/visualization/axes.h
index e4c2bf76f53..50cc88bb7fb 100644
--- a/outofcore/include/pcl/outofcore/visualization/axes.h
+++ b/outofcore/include/pcl/outofcore/visualization/axes.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_AXES_H_
-#define PCL_OUTOFCORE_AXES_H_
+#pragma once
 
 // C++
 #include <iostream>
@@ -93,6 +92,3 @@ class Axes : public Object
   vtkSmartPointer<vtkActor> axes_actor_;
 
 };
-
-#endif
-
diff --git a/outofcore/include/pcl/outofcore/visualization/camera.h b/outofcore/include/pcl/outofcore/visualization/camera.h
index 53dde35540a..9f7bb33f48d 100644
--- a/outofcore/include/pcl/outofcore/visualization/camera.h
+++ b/outofcore/include/pcl/outofcore/visualization/camera.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_CAMERA_H_
-#define PCL_OUTOFCORE_CAMERA_H_
+#pragma once
 
 // C++
 #include <iostream>
@@ -149,5 +148,3 @@ class Camera : public Object
   double prevFocal_[3];
   double prevPos_[3];
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/common.h b/outofcore/include/pcl/outofcore/visualization/common.h
index aec5e58a0f6..e8b36e85baa 100644
--- a/outofcore/include/pcl/outofcore/visualization/common.h
+++ b/outofcore/include/pcl/outofcore/visualization/common.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_COMMON_H_
-#define PCL_OUTOFCORE_COMMON_H_
+#pragma once
 
 // VTK
 #include <vtkPolyData.h>
@@ -7,5 +6,3 @@
 
 vtkSmartPointer<vtkPolyData>
 getVtkCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/geometry.h b/outofcore/include/pcl/outofcore/visualization/geometry.h
index 7990384ffa9..13cdd7fa9fe 100644
--- a/outofcore/include/pcl/outofcore/visualization/geometry.h
+++ b/outofcore/include/pcl/outofcore/visualization/geometry.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_GEOMETRY_H_
-#define PCL_OUTOFCORE_GEOMETRY_H_
+#pragma once
 
 // C++
 #include <string>
@@ -39,5 +38,3 @@ class Geometry : public Object
   }
 
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/grid.h b/outofcore/include/pcl/outofcore/visualization/grid.h
index b9aa3449a46..052abf07742 100644
--- a/outofcore/include/pcl/outofcore/visualization/grid.h
+++ b/outofcore/include/pcl/outofcore/visualization/grid.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_GRID_H_
-#define PCL_OUTOFCORE_GRID_H_
+#pragma once
 
 // C++
 #include <iostream>
@@ -50,5 +49,3 @@ class Grid : public Object
   vtkSmartPointer<vtkActor> grid_actor_;
 
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/object.h b/outofcore/include/pcl/outofcore/visualization/object.h
index c6cf208293e..2518efef948 100644
--- a/outofcore/include/pcl/outofcore/visualization/object.h
+++ b/outofcore/include/pcl/outofcore/visualization/object.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_OBJECT_H_
-#define PCL_OUTOFCORE_OBJECT_H_
+#pragma once
 
 // C++
 #include <map>
@@ -67,5 +66,3 @@ class Object
   std::map<vtkActor*, std::set<vtkRenderer*> > associated_renderers_;
 
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/outofcore_cloud.h b/outofcore/include/pcl/outofcore/visualization/outofcore_cloud.h
index ee65e140f18..aa36dfaa28c 100644
--- a/outofcore/include/pcl/outofcore/visualization/outofcore_cloud.h
+++ b/outofcore/include/pcl/outofcore/visualization/outofcore_cloud.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_OUTOFCORE_CLOUD_H_
-#define PCL_OUTOFCORE_OUTOFCORE_CLOUD_H_
+#pragma once
 
 #include <stdint.h>
 
@@ -292,5 +291,3 @@ class OutofcoreCloud : public Object
   public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/scene.h b/outofcore/include/pcl/outofcore/visualization/scene.h
index 438a3ce855c..c47b4df7c1e 100644
--- a/outofcore/include/pcl/outofcore/visualization/scene.h
+++ b/outofcore/include/pcl/outofcore/visualization/scene.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_SCENE_H_
-#define PCL_OUTOFCORE_SCENE_H_
+#pragma once
 
 // PCL
 #include "camera.h"
@@ -86,5 +85,3 @@ class Scene
   boost::mutex render_mutex_;
 
 };
-
-#endif
diff --git a/outofcore/include/pcl/outofcore/visualization/viewport.h b/outofcore/include/pcl/outofcore/visualization/viewport.h
index 2072567daec..c847dbf40f3 100644
--- a/outofcore/include/pcl/outofcore/visualization/viewport.h
+++ b/outofcore/include/pcl/outofcore/visualization/viewport.h
@@ -1,5 +1,4 @@
-#ifndef PCL_OUTOFCORE_VIEWPORT_H_
-#define PCL_OUTOFCORE_VIEWPORT_H_
+#pragma once
 
 // C++
 #include <iostream>
@@ -78,5 +77,3 @@ class Viewport
   vtkSmartPointer<vtkTextActor> fps_hud_actor_;
   vtkSmartPointer<vtkTextActor> points_hud_actor_;
 };
-
-#endif
diff --git a/people/include/pcl/people/ground_based_people_detection_app.h b/people/include/pcl/people/ground_based_people_detection_app.h
index 9c07db1f492..45d3efa9b29 100644
--- a/people/include/pcl/people/ground_based_people_detection_app.h
+++ b/people/include/pcl/people/ground_based_people_detection_app.h
@@ -38,8 +38,7 @@
  * Author: Matteo Munaro
  */
 
-#ifndef PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_
-#define PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
@@ -372,4 +371,3 @@ namespace pcl
   } /* namespace people */
 } /* namespace pcl */
 #include <pcl/people/impl/ground_based_people_detection_app.hpp>
-#endif /* PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_ */
diff --git a/people/include/pcl/people/head_based_subcluster.h b/people/include/pcl/people/head_based_subcluster.h
index 0a60bbcfd72..cf838032ba2 100644
--- a/people/include/pcl/people/head_based_subcluster.h
+++ b/people/include/pcl/people/head_based_subcluster.h
@@ -38,8 +38,7 @@
  * Author: Matteo Munaro
  */
 
-#ifndef PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_
-#define PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_
+#pragma once
 
 #include <pcl/people/person_cluster.h>
 #include <pcl/people/height_map_2d.h>
@@ -228,4 +227,3 @@ namespace pcl
   } /* namespace people */
 } /* namespace pcl */
 #include <pcl/people/impl/head_based_subcluster.hpp>
-#endif /* PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_ */
diff --git a/people/include/pcl/people/height_map_2d.h b/people/include/pcl/people/height_map_2d.h
index 4f8c1afef38..0b9b722d6ef 100644
--- a/people/include/pcl/people/height_map_2d.h
+++ b/people/include/pcl/people/height_map_2d.h
@@ -38,8 +38,7 @@
  * Author: Matteo Munaro
  */
 
-#ifndef PCL_PEOPLE_HEIGHT_MAP_2D_H_
-#define PCL_PEOPLE_HEIGHT_MAP_2D_H_
+#pragma once
 
 #include <pcl/people/person_cluster.h>
 #include <pcl/point_types.h>
@@ -206,4 +205,3 @@ namespace pcl
   } /* namespace people */
 } /* namespace pcl */
 #include <pcl/people/impl/height_map_2d.hpp>
-#endif /* PCL_PEOPLE_HEIGHT_MAP_2D_H_ */
diff --git a/people/include/pcl/people/hog.h b/people/include/pcl/people/hog.h
index 98025517d4c..aba84e46433 100644
--- a/people/include/pcl/people/hog.h
+++ b/people/include/pcl/people/hog.h
@@ -38,8 +38,7 @@
  * Non-SSE version of the code provided by Matteo Munaro, Stefano Ghidoni and Stefano Michieletto
  */
 
-#ifndef PCL_PEOPLE_HOG_H_
-#define PCL_PEOPLE_HOG_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -186,4 +185,3 @@ namespace pcl
     };
   } /* namespace people */
 } /* namespace pcl */
-#endif /* PCL_PEOPLE_HOG_H_ */
diff --git a/people/include/pcl/people/person_classifier.h b/people/include/pcl/people/person_classifier.h
index 910b46f98d1..e7359a78b95 100644
--- a/people/include/pcl/people/person_classifier.h
+++ b/people/include/pcl/people/person_classifier.h
@@ -38,8 +38,7 @@
  * Author: Matteo Munaro
  */
  
-#ifndef PCL_PEOPLE_PERSON_CLASSIFIER_H_
-#define PCL_PEOPLE_PERSON_CLASSIFIER_H_
+#pragma once
 
 #include <pcl/people/person_cluster.h>
 #include <pcl/people/hog.h>
@@ -164,4 +163,3 @@ namespace pcl
   } /* namespace people */
 } /* namespace pcl */
 #include <pcl/people/impl/person_classifier.hpp>
-#endif /* PCL_PEOPLE_PERSON_CLASSIFIER_H_ */
diff --git a/people/include/pcl/people/person_cluster.h b/people/include/pcl/people/person_cluster.h
index 13d2cbf92e0..1987f2cc303 100644
--- a/people/include/pcl/people/person_cluster.h
+++ b/people/include/pcl/people/person_cluster.h
@@ -38,8 +38,7 @@
  * Author: Matteo Munaro
  */
 
-#ifndef PCL_PEOPLE_PERSON_CLUSTER_H_
-#define PCL_PEOPLE_PERSON_CLUSTER_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -328,4 +327,3 @@ namespace pcl
   } /* namespace people */
 } /* namespace pcl */
 #include <pcl/people/impl/person_cluster.hpp>
-#endif /* PCL_PEOPLE_PERSON_CLUSTER_H_ */
diff --git a/recognition/include/pcl/recognition/boost.h b/recognition/include/pcl/recognition/boost.h
index f3bb93d40c4..67d98ea15d7 100644
--- a/recognition/include/pcl/recognition/boost.h
+++ b/recognition/include/pcl/recognition/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_BOOST_H_
-#define PCL_RECOGNITION_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -47,5 +46,3 @@
 #include <boost/unordered_map.hpp>
 #include <boost/graph/graph_traits.hpp>
 //#include <boost/graph/adjacency_list.hpp>
-
-#endif    // PCL_RECOGNITION_BOOST_H_
diff --git a/recognition/include/pcl/recognition/cg/correspondence_grouping.h b/recognition/include/pcl/recognition/cg/correspondence_grouping.h
index e92a6f83fbf..bfc882aa0b8 100644
--- a/recognition/include/pcl/recognition/cg/correspondence_grouping.h
+++ b/recognition/include/pcl/recognition/cg/correspondence_grouping.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_
-#define PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/correspondence.h>
@@ -198,5 +197,3 @@ namespace pcl
 }
 
 #include <pcl/recognition/impl/cg/correspondence_grouping.hpp>
-
-#endif // PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_
diff --git a/recognition/include/pcl/recognition/cg/geometric_consistency.h b/recognition/include/pcl/recognition/cg/geometric_consistency.h
index 4be2d36802a..ff0cdabc68f 100644
--- a/recognition/include/pcl/recognition/cg/geometric_consistency.h
+++ b/recognition/include/pcl/recognition/cg/geometric_consistency.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
-#define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
+#pragma once
 
 #include <pcl/recognition/cg/correspondence_grouping.h>
 #include <pcl/point_cloud.h>
@@ -154,5 +153,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/recognition/impl/cg/geometric_consistency.hpp>
 #endif
-
-#endif // PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
diff --git a/recognition/include/pcl/recognition/cg/hough_3d.h b/recognition/include/pcl/recognition/cg/hough_3d.h
index 1f5ff11b89e..47fdcc36110 100644
--- a/recognition/include/pcl/recognition/cg/hough_3d.h
+++ b/recognition/include/pcl/recognition/cg/hough_3d.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_HOUGH_3D_H_
-#define PCL_RECOGNITION_HOUGH_3D_H_
+#pragma once
 
 #include <pcl/recognition/cg/correspondence_grouping.h>
 #include <pcl/recognition/boost.h>
@@ -514,5 +513,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/recognition/impl/cg/hough_3d.hpp>
 #endif
-
-#endif // PCL_RECOGNITION_HOUGH_3D_H_
diff --git a/recognition/include/pcl/recognition/color_gradient_dot_modality.h b/recognition/include/pcl/recognition/color_gradient_dot_modality.h
index a9a3ce753ce..4b6fb451e2e 100644
--- a/recognition/include/pcl/recognition/color_gradient_dot_modality.h
+++ b/recognition/include/pcl/recognition/color_gradient_dot_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_COLOR_GRADIENT_DOT_MODALITY
-#define PCL_FEATURES_COLOR_GRADIENT_DOT_MODALITY
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_cloud.h>
@@ -698,5 +697,3 @@ computeInvariantQuantizedMap (const MaskMap & mask,
 
   return map;
 }
-
-#endif
diff --git a/recognition/include/pcl/recognition/color_gradient_modality.h b/recognition/include/pcl/recognition/color_gradient_modality.h
index 566d4622168..110e82f06c0 100644
--- a/recognition/include/pcl/recognition/color_gradient_modality.h
+++ b/recognition/include/pcl/recognition/color_gradient_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_COLOR_GRADIENT_MODALITY
-#define PCL_RECOGNITION_COLOR_GRADIENT_MODALITY
+#pragma once
 
 #include <pcl/recognition/quantizable_modality.h>
 
@@ -1120,5 +1119,3 @@ erode (const pcl::MaskMap & mask_in,
     }
   }
 }
-
-#endif 
diff --git a/recognition/include/pcl/recognition/color_modality.h b/recognition/include/pcl/recognition/color_modality.h
index 9b704d8273a..07168e5c264 100644
--- a/recognition/include/pcl/recognition/color_modality.h
+++ b/recognition/include/pcl/recognition/color_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_COLOR_MODALITY
-#define PCL_RECOGNITION_COLOR_MODALITY
+#pragma once
 
 #include <pcl/recognition/quantizable_modality.h>
 #include <pcl/recognition/distance_map.h>
@@ -547,6 +546,3 @@ pcl::ColorModality<PointInT>::computeDistanceMap (const MaskMap & input,
     current_row -= width;
   }
 }
-
-
-#endif 
diff --git a/recognition/include/pcl/recognition/dense_quantized_multi_mod_template.h b/recognition/include/pcl/recognition/dense_quantized_multi_mod_template.h
index b9f4ac745b8..064621686b9 100644
--- a/recognition/include/pcl/recognition/dense_quantized_multi_mod_template.h
+++ b/recognition/include/pcl/recognition/dense_quantized_multi_mod_template.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_DENSE_QUANTIZED_MULTI_MOD_TEMPLATE
-#define PCL_FEATURES_DENSE_QUANTIZED_MULTI_MOD_TEMPLATE
+#pragma once
 
 #include <vector>
 
@@ -113,5 +112,3 @@ namespace pcl
   };
 
 }
-
-#endif 
\ No newline at end of file
diff --git a/recognition/include/pcl/recognition/distance_map.h b/recognition/include/pcl/recognition/distance_map.h
index ac68e5b4ed8..cc411467ed9 100644
--- a/recognition/include/pcl/recognition/distance_map.h
+++ b/recognition/include/pcl/recognition/distance_map.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_DISTANCE_MAP
-#define PCL_RECOGNITION_DISTANCE_MAP
+#pragma once
 
 namespace pcl
 {
@@ -115,6 +114,3 @@ namespace pcl
   };
 
 }
-
-
-#endif 
diff --git a/recognition/include/pcl/recognition/dot_modality.h b/recognition/include/pcl/recognition/dot_modality.h
index 0f66b922825..f07106e34f9 100644
--- a/recognition/include/pcl/recognition/dot_modality.h
+++ b/recognition/include/pcl/recognition/dot_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_DOT_MODALITY
-#define PCL_FEATURES_DOT_MODALITY
+#pragma once
 
 #include <vector>
 #include <pcl/pcl_macros.h>
@@ -64,5 +63,3 @@ namespace pcl
 
   };
 }
-
-#endif    // PCL_FEATURES_DOT_MODALITY
diff --git a/recognition/include/pcl/recognition/dotmod.h b/recognition/include/pcl/recognition/dotmod.h
index 96a0be4860f..eb87ebdce31 100644
--- a/recognition/include/pcl/recognition/dotmod.h
+++ b/recognition/include/pcl/recognition/dotmod.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_DOTMOD
-#define PCL_RECOGNITION_DOTMOD
+#pragma once
 
 #include <vector>
 #include <cstddef>
@@ -127,5 +126,3 @@ namespace pcl
   };
 
 }
-
-#endif 
diff --git a/recognition/include/pcl/recognition/face_detection/rf_face_detector_trainer.h b/recognition/include/pcl/recognition/face_detection/rf_face_detector_trainer.h
index 2729db06578..f282c70bdce 100644
--- a/recognition/include/pcl/recognition/face_detection/rf_face_detector_trainer.h
+++ b/recognition/include/pcl/recognition/face_detection/rf_face_detector_trainer.h
@@ -5,8 +5,7 @@
  *      Author: Aitor Aldoma
  */
 
-#ifndef PCL_RF_FACE_DETECTOR_TRAINER_H_
-#define PCL_RF_FACE_DETECTOR_TRAINER_H_
+#pragma once
 
 #include "pcl/recognition/face_detection/face_detector_data_provider.h"
 #include "pcl/recognition/face_detection/rf_face_utils.h"
@@ -259,5 +258,3 @@ namespace pcl
       void detectFaces();
   };
 }
-
-#endif /* PCL_RF_FACE_DETECTOR_TRAINER_H_ */
diff --git a/recognition/include/pcl/recognition/face_detection/rf_face_utils.h b/recognition/include/pcl/recognition/face_detection/rf_face_utils.h
index 71104b98958..e4e9f870807 100644
--- a/recognition/include/pcl/recognition/face_detection/rf_face_utils.h
+++ b/recognition/include/pcl/recognition/face_detection/rf_face_utils.h
@@ -5,8 +5,7 @@
  *      Author: Aitor Aldoma
  */
 
-#ifndef PCL_RF_FACE_UTILS_H_
-#define PCL_RF_FACE_UTILS_H_
+#pragma once
 
 #include "pcl/recognition/face_detection/face_common.h"
 #include <pcl/ml/feature_handler.h>
@@ -536,5 +535,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_RF_FACE_UTILS_H_ */
diff --git a/recognition/include/pcl/recognition/hv/greedy_verification.h b/recognition/include/pcl/recognition/hv/greedy_verification.h
index 03148bd23fe..4399a8c4e66 100644
--- a/recognition/include/pcl/recognition/hv/greedy_verification.h
+++ b/recognition/include/pcl/recognition/hv/greedy_verification.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RECOGNITION_HV_GREEDY_H_
-#define PCL_RECOGNITION_HV_GREEDY_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/recognition/hv/hypotheses_verification.h>
@@ -180,5 +179,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/recognition/impl/hv/greedy_verification.hpp>
 #endif
-
-#endif /* PCL_RECOGNITION_HV_GREEDY_H_ */
diff --git a/recognition/include/pcl/recognition/hv/hv_papazov.h b/recognition/include/pcl/recognition/hv/hv_papazov.h
index 5d4db89f617..b6ea593c478 100644
--- a/recognition/include/pcl/recognition/hv/hv_papazov.h
+++ b/recognition/include/pcl/recognition/hv/hv_papazov.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RECOGNITION_HV_PAPAZOV_H_
-#define PCL_RECOGNITION_HV_PAPAZOV_H_
+#pragma once
 
 #include <pcl/recognition/boost.h>
 #include <pcl/pcl_macros.h>
@@ -119,5 +118,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/recognition/impl/hv/hv_papazov.hpp>
 #endif
-
-#endif /* PCL_RECOGNITION_HV_PAPAZOV_H_ */
diff --git a/recognition/include/pcl/recognition/hv/hypotheses_verification.h b/recognition/include/pcl/recognition/hv/hypotheses_verification.h
index bc8e20d3182..194dceb4540 100644
--- a/recognition/include/pcl/recognition/hv/hypotheses_verification.h
+++ b/recognition/include/pcl/recognition/hv/hypotheses_verification.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_
-#define PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include "pcl/recognition/hv/occlusion_reasoning.h"
@@ -326,5 +325,3 @@ namespace pcl
   };
 
 }
-
-#endif /* PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_ */
diff --git a/recognition/include/pcl/recognition/hv/occlusion_reasoning.h b/recognition/include/pcl/recognition/hv/occlusion_reasoning.h
index 09fbec485a7..858086cdd63 100644
--- a/recognition/include/pcl/recognition/hv/occlusion_reasoning.h
+++ b/recognition/include/pcl/recognition/hv/occlusion_reasoning.h
@@ -34,8 +34,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_RECOGNITION_OCCLUSION_REASONING_H_
-#define PCL_RECOGNITION_OCCLUSION_REASONING_H_
+#pragma once
 
 #include <pcl/common/common.h>
 #include <pcl/common/transforms.h>
@@ -214,5 +213,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/recognition/impl/hv/occlusion_reasoning.hpp>
 #endif
-
-#endif /* PCL_RECOGNITION_OCCLUSION_REASONING_H_ */
diff --git a/recognition/include/pcl/recognition/implicit_shape_model.h b/recognition/include/pcl/recognition/implicit_shape_model.h
index 845923c929c..dd9d379fbf8 100644
--- a/recognition/include/pcl/recognition/implicit_shape_model.h
+++ b/recognition/include/pcl/recognition/implicit_shape_model.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef	PCL_IMPLICIT_SHAPE_MODEL_H_
-#define	PCL_IMPLICIT_SHAPE_MODEL_H_
+#pragma once
 
 #include <vector>
 #include <fstream>
@@ -625,5 +624,3 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ISMPeak,
   (float, density, ism_density)
   (float, class_id, ism_class_id)
 )
-
-#endif  //#ifndef PCL_IMPLICIT_SHAPE_MODEL_H_
diff --git a/recognition/include/pcl/recognition/linemod.h b/recognition/include/pcl/recognition/linemod.h
index 54ffc28e7cf..021e9eca5e5 100644
--- a/recognition/include/pcl/recognition/linemod.h
+++ b/recognition/include/pcl/recognition/linemod.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_LINEMOD
-#define PCL_RECOGNITION_LINEMOD
+#pragma once
 
 #include <vector>
 #include <cstddef>
@@ -475,5 +474,3 @@ namespace pcl
   };
 
 }
-
-#endif 
diff --git a/recognition/include/pcl/recognition/linemod/line_rgbd.h b/recognition/include/pcl/recognition/linemod/line_rgbd.h
index c0d6dcecd3e..1ef8dbaff86 100644
--- a/recognition/include/pcl/recognition/linemod/line_rgbd.h
+++ b/recognition/include/pcl/recognition/linemod/line_rgbd.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_LINEMOD_LINE_RGBD
-#define PCL_RECOGNITION_LINEMOD_LINE_RGBD
+#pragma once
 
 #include <pcl/recognition/linemod.h>
 #include <pcl/recognition/color_gradient_modality.h>
@@ -316,5 +315,3 @@ namespace pcl
 }
 
 #include <pcl/recognition/impl/linemod/line_rgbd.hpp>
-
-#endif  
diff --git a/recognition/include/pcl/recognition/mask_map.h b/recognition/include/pcl/recognition/mask_map.h
index 9f7571774e2..e8d0c40186a 100644
--- a/recognition/include/pcl/recognition/mask_map.h
+++ b/recognition/include/pcl/recognition/mask_map.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_MASK_MAP
-#define PCL_FEATURES_MASK_MAP
+#pragma once
 
 #include <vector>
 #include <pcl/pcl_macros.h>
@@ -118,5 +117,3 @@ namespace pcl
   };
 
 }
-
-#endif  
diff --git a/recognition/include/pcl/recognition/point_types.h b/recognition/include/pcl/recognition/point_types.h
index 869eca8b67c..5ebbbb7fb89 100644
--- a/recognition/include/pcl/recognition/point_types.h
+++ b/recognition/include/pcl/recognition/point_types.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_POINT_TYPES
-#define PCL_RECOGNITION_POINT_TYPES
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_cloud.h>
@@ -75,5 +74,3 @@ namespace pcl
   }
 
 }
-
-#endif
diff --git a/recognition/include/pcl/recognition/quantizable_modality.h b/recognition/include/pcl/recognition/quantizable_modality.h
index c7dcaee146b..61553fd0c70 100644
--- a/recognition/include/pcl/recognition/quantizable_modality.h
+++ b/recognition/include/pcl/recognition/quantizable_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_QUANTIZABLE_MODALITY
-#define PCL_FEATURES_QUANTIZABLE_MODALITY
+#pragma once
 
 #include <vector>
 #include <pcl/pcl_macros.h>
@@ -88,5 +87,3 @@ namespace pcl
                        std::vector<QuantizedMultiModFeature> & features) const = 0;
   };
 }
-
-#endif
diff --git a/recognition/include/pcl/recognition/quantized_map.h b/recognition/include/pcl/recognition/quantized_map.h
index c61a44911d0..a4f2b921753 100644
--- a/recognition/include/pcl/recognition/quantized_map.h
+++ b/recognition/include/pcl/recognition/quantized_map.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_QUANTIZED_MAP
-#define PCL_FEATURES_QUANTIZED_MAP
+#pragma once
 
 #include <vector>
 #include <pcl/pcl_macros.h>
@@ -151,5 +150,3 @@ namespace pcl
     
   };
 }
-
-#endif   
diff --git a/recognition/include/pcl/recognition/ransac_based/auxiliary.h b/recognition/include/pcl/recognition/ransac_based/auxiliary.h
index 43a6c809ff1..9b16222fc11 100644
--- a/recognition/include/pcl/recognition/ransac_based/auxiliary.h
+++ b/recognition/include/pcl/recognition/ransac_based/auxiliary.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_RANSAC_BASED_AUX_H_
-#define PCL_RECOGNITION_RANSAC_BASED_AUX_H_
+#pragma once
 
 #include <cmath>
 #include <cstdlib>
@@ -463,5 +462,3 @@ namespace pcl
     } // namespace aux
   } // namespace recognition
 } // namespace pcl
-
-#endif // AUX_H_
diff --git a/recognition/include/pcl/recognition/ransac_based/bvh.h b/recognition/include/pcl/recognition/ransac_based/bvh.h
index bf6e88903a2..084c0d5ee1d 100644
--- a/recognition/include/pcl/recognition/ransac_based/bvh.h
+++ b/recognition/include/pcl/recognition/ransac_based/bvh.h
@@ -43,8 +43,7 @@
  *      Author: papazov
  */
 
-#ifndef PCL_RECOGNITION_BVH_H_
-#define PCL_RECOGNITION_BVH_H_
+#pragma once
 
 #include <pcl/pcl_exports.h>
 #include <cstring>
@@ -312,5 +311,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif /* PCL_RECOGNITION_BVH_H_ */
diff --git a/recognition/include/pcl/recognition/ransac_based/hypothesis.h b/recognition/include/pcl/recognition/ransac_based/hypothesis.h
index 4ac961add06..758557104f2 100644
--- a/recognition/include/pcl/recognition/ransac_based/hypothesis.h
+++ b/recognition/include/pcl/recognition/ransac_based/hypothesis.h
@@ -43,8 +43,7 @@
  *      Author: papazov
  */
 
-#ifndef PCL_RECOGNITION_HYPOTHESIS_H_
-#define PCL_RECOGNITION_HYPOTHESIS_H_
+#pragma once
 
 #include <pcl/recognition/ransac_based/model_library.h>
 #include <pcl/recognition/ransac_based/auxiliary.h>
@@ -156,5 +155,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif /* PCL_RECOGNITION_HYPOTHESIS_H_ */
diff --git a/recognition/include/pcl/recognition/ransac_based/model_library.h b/recognition/include/pcl/recognition/ransac_based/model_library.h
index c1dc136959d..221e262b69c 100644
--- a/recognition/include/pcl/recognition/ransac_based/model_library.h
+++ b/recognition/include/pcl/recognition/ransac_based/model_library.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_MODEL_LIBRARY_H_
-#define PCL_RECOGNITION_MODEL_LIBRARY_H_
+#pragma once
 
 #include "auxiliary.h"
 #include <pcl/recognition/ransac_based/voxel_structure.h>
@@ -270,5 +269,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif // PCL_RECOGNITION_MODEL_LIBRARY_H_
diff --git a/recognition/include/pcl/recognition/ransac_based/obj_rec_ransac.h b/recognition/include/pcl/recognition/ransac_based/obj_rec_ransac.h
index fe1ed3896ce..651014bbfde 100644
--- a/recognition/include/pcl/recognition/ransac_based/obj_rec_ransac.h
+++ b/recognition/include/pcl/recognition/ransac_based/obj_rec_ransac.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_OBJ_REC_RANSAC_H_
-#define PCL_RECOGNITION_OBJ_REC_RANSAC_H_
+#pragma once
 
 #include <pcl/recognition/ransac_based/hypothesis.h>
 #include <pcl/recognition/ransac_based/model_library.h>
@@ -480,5 +479,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif // PCL_RECOGNITION_OBJ_REC_RANSAC_H_
diff --git a/recognition/include/pcl/recognition/ransac_based/orr_graph.h b/recognition/include/pcl/recognition/ransac_based/orr_graph.h
index 351d6adbae7..85b6121b840 100644
--- a/recognition/include/pcl/recognition/ransac_based/orr_graph.h
+++ b/recognition/include/pcl/recognition/ransac_based/orr_graph.h
@@ -43,8 +43,7 @@
  *      Author: papazov
  */
 
-#ifndef PCL_RECOGNITION_ORR_GRAPH_H_
-#define PCL_RECOGNITION_ORR_GRAPH_H_
+#pragma once
 
 #include <vector>
 
@@ -221,5 +220,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif /* PCL_RECOGNITION_ORR_GRAPH_H_ */
diff --git a/recognition/include/pcl/recognition/ransac_based/orr_octree.h b/recognition/include/pcl/recognition/ransac_based/orr_octree.h
index 8eaad540dec..bb9536935bb 100644
--- a/recognition/include/pcl/recognition/ransac_based/orr_octree.h
+++ b/recognition/include/pcl/recognition/ransac_based/orr_octree.h
@@ -43,8 +43,7 @@
  *      Author: papazov
  */
 
-#ifndef PCL_RECOGNITION_ORR_OCTREE_H_
-#define PCL_RECOGNITION_ORR_OCTREE_H_
+#pragma once
 
 #include "auxiliary.h"
 #include <pcl/point_types.h>
@@ -488,5 +487,3 @@ namespace pcl
     };
   } // namespace recognition
 } // namespace pcl
-
-#endif /* PCL_RECOGNITION_ORR_OCTREE_H_ */
diff --git a/recognition/include/pcl/recognition/ransac_based/rigid_transform_space.h b/recognition/include/pcl/recognition/ransac_based/rigid_transform_space.h
index 86574b0185d..eb8211d483d 100644
--- a/recognition/include/pcl/recognition/ransac_based/rigid_transform_space.h
+++ b/recognition/include/pcl/recognition/ransac_based/rigid_transform_space.h
@@ -43,8 +43,7 @@
  *      Author: papazov
  */
 
-#ifndef PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_
-#define PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_
+#pragma once
 
 #include "simple_octree.h"
 #include "model_library.h"
@@ -410,5 +409,3 @@ namespace pcl
     }; // class RigidTransformSpace
   } // namespace recognition
 } // namespace pcl
-
-#endif /* PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_ */
diff --git a/recognition/include/pcl/recognition/ransac_based/voxel_structure.h b/recognition/include/pcl/recognition/ransac_based/voxel_structure.h
index b3819031b66..0aaac6102de 100644
--- a/recognition/include/pcl/recognition/ransac_based/voxel_structure.h
+++ b/recognition/include/pcl/recognition/ransac_based/voxel_structure.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_H_
-#define PCL_RECOGNITION_VOXEL_STRUCTURE_H_
+#pragma once
 
 #include <cstdlib>
 
@@ -167,5 +166,3 @@ namespace pcl
 } // namespace pcl
 
 #include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>
-
-#endif // PCL_RECOGNITION_VOXEL_STRUCTURE_H_
diff --git a/recognition/include/pcl/recognition/region_xy.h b/recognition/include/pcl/recognition/region_xy.h
index 8576d1cc583..78d413cdeb0 100644
--- a/recognition/include/pcl/recognition/region_xy.h
+++ b/recognition/include/pcl/recognition/region_xy.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_REGION_XY_
-#define PCL_FEATURES_REGION_XY_
+#pragma once
 
 #include <fstream>
 
@@ -117,5 +116,3 @@ namespace pcl
 
   };
 }
-
-#endif // PCL_FEATURES_REGION_XY_
diff --git a/recognition/include/pcl/recognition/sparse_quantized_multi_mod_template.h b/recognition/include/pcl/recognition/sparse_quantized_multi_mod_template.h
index 3f68d87af2f..d9ea979517c 100644
--- a/recognition/include/pcl/recognition/sparse_quantized_multi_mod_template.h
+++ b/recognition/include/pcl/recognition/sparse_quantized_multi_mod_template.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE
-#define PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE
+#pragma once
 
 #include <vector>
 
@@ -152,5 +151,3 @@ namespace pcl
   };
 
 }
-
-#endif 
diff --git a/recognition/include/pcl/recognition/surface_normal_modality.h b/recognition/include/pcl/recognition/surface_normal_modality.h
index 4e4f876ff62..72c334a5b68 100644
--- a/recognition/include/pcl/recognition/surface_normal_modality.h
+++ b/recognition/include/pcl/recognition/surface_normal_modality.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_RECOGNITION_SURFACE_NORMAL_MODALITY
-#define PCL_RECOGNITION_SURFACE_NORMAL_MODALITY
+#pragma once
 
 #include <pcl/recognition/quantizable_modality.h>
 #include <pcl/recognition/distance_map.h>
@@ -1639,6 +1638,3 @@ pcl::SurfaceNormalModality<PointInT>::computeDistanceMap (const MaskMap & input,
     current_row -= width;
   }
 }
-
-
-#endif 
diff --git a/registration/include/pcl/registration/bfgs.h b/registration/include/pcl/registration/bfgs.h
index 42cfd2ae189..16b3173ce8a 100644
--- a/registration/include/pcl/registration/bfgs.h
+++ b/registration/include/pcl/registration/bfgs.h
@@ -1,5 +1,4 @@
-#ifndef PCL_FOR_EIGEN_BFGS_H
-#define PCL_FOR_EIGEN_BFGS_H
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -614,5 +613,3 @@ BFGS<FunctorType>::lineSearch(Scalar rho, Scalar sigma,
   }
   return BFGSSpace::Success;
 }
-#endif // PCL_FOR_EIGEN_BFGS_H
-
diff --git a/registration/include/pcl/registration/boost.h b/registration/include/pcl/registration/boost.h
index e5ae80f1d27..7a9214e89c7 100644
--- a/registration/include/pcl/registration/boost.h
+++ b/registration/include/pcl/registration/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_BOOST_H_
-#define PCL_REGISTRATION_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -54,5 +53,3 @@
 #include <boost/make_shared.hpp>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
-
-#endif    // PCL_REGISTRATION_BOOST_H_
diff --git a/registration/include/pcl/registration/boost_graph.h b/registration/include/pcl/registration/boost_graph.h
index 0948d930944..4098837bffa 100644
--- a/registration/include/pcl/registration/boost_graph.h
+++ b/registration/include/pcl/registration/boost_graph.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_BOOST_GRAPH_H_
-#define PCL_REGISTRATION_BOOST_GRAPH_H_
+#pragma once
 
 #include <boost/graph/adjacency_list.hpp>
 #include <Eigen/StdVector>
@@ -99,5 +98,3 @@ namespace boost
       };
   }
 }
-
-#endif    // PCL_REGISTRATION_BOOST_GRAPH_H_
diff --git a/registration/include/pcl/registration/convergence_criteria.h b/registration/include/pcl/registration/convergence_criteria.h
index 0e51b9fb02a..4cf8f9da344 100644
--- a/registration/include/pcl/registration/convergence_criteria.h
+++ b/registration/include/pcl/registration/convergence_criteria.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
-#define PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -85,6 +84,3 @@ namespace pcl
      };
   }
 }
-
-#endif    // PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
-
diff --git a/registration/include/pcl/registration/correspondence_estimation.h b/registration/include/pcl/registration/correspondence_estimation.h
index fa8b487b4bf..ed25aa4e6a6 100644
--- a/registration/include/pcl/registration/correspondence_estimation.h
+++ b/registration/include/pcl/registration/correspondence_estimation.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_
+#pragma once
 
 #include <string>
 
@@ -436,5 +435,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_estimation.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_ */
diff --git a/registration/include/pcl/registration/correspondence_estimation_backprojection.h b/registration/include/pcl/registration/correspondence_estimation_backprojection.h
index ccce9f2b5f1..0a5da9213ca 100644
--- a/registration/include/pcl/registration/correspondence_estimation_backprojection.h
+++ b/registration/include/pcl/registration/correspondence_estimation_backprojection.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
+#pragma once
 
 #include <pcl/registration/correspondence_types.h>
 #include <pcl/registration/correspondence_estimation.h>
@@ -224,5 +223,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_ */
diff --git a/registration/include/pcl/registration/correspondence_estimation_normal_shooting.h b/registration/include/pcl/registration/correspondence_estimation_normal_shooting.h
index 7dbc82f9b41..8863b5996d2 100644
--- a/registration/include/pcl/registration/correspondence_estimation_normal_shooting.h
+++ b/registration/include/pcl/registration/correspondence_estimation_normal_shooting.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
+#pragma once
 
 #include <pcl/registration/correspondence_types.h>
 #include <pcl/registration/correspondence_estimation.h>
@@ -217,5 +216,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_estimation_normal_shooting.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_ */
diff --git a/registration/include/pcl/registration/correspondence_estimation_organized_projection.h b/registration/include/pcl/registration/correspondence_estimation_organized_projection.h
index a6ba9fdd21a..9bf5a5d03be 100644
--- a/registration/include/pcl/registration/correspondence_estimation_organized_projection.h
+++ b/registration/include/pcl/registration/correspondence_estimation_organized_projection.h
@@ -37,9 +37,7 @@
  *
  */
 
-
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_
+#pragma once
 
 #include <pcl/registration/correspondence_estimation.h>
 
@@ -206,5 +204,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_estimation_organized_projection.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_ */
diff --git a/registration/include/pcl/registration/correspondence_rejection.h b/registration/include/pcl/registration/correspondence_rejection.h
index 9094e4e861c..b2638cfe790 100644
--- a/registration/include/pcl/registration/correspondence_rejection.h
+++ b/registration/include/pcl/registration/correspondence_rejection.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
+#pragma once
 
 #include <pcl/registration/correspondence_types.h>
 #include <pcl/registration/correspondence_sorting.h>
@@ -404,6 +403,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */
-
diff --git a/registration/include/pcl/registration/correspondence_rejection_distance.h b/registration/include/pcl/registration/correspondence_rejection_distance.h
index cbbe5f484f9..01a1cc12768 100644
--- a/registration/include/pcl/registration/correspondence_rejection_distance.h
+++ b/registration/include/pcl/registration/correspondence_rejection_distance.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 
@@ -206,5 +206,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_distance.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ */
diff --git a/registration/include/pcl/registration/correspondence_rejection_features.h b/registration/include/pcl/registration/correspondence_rejection_features.h
index e69a6dbd3fd..6c2c1941671 100644
--- a/registration/include/pcl/registration/correspondence_rejection_features.h
+++ b/registration/include/pcl/registration/correspondence_rejection_features.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 #include <pcl/point_cloud.h>
@@ -299,5 +299,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_features.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_ */
diff --git a/registration/include/pcl/registration/correspondence_rejection_median_distance.h b/registration/include/pcl/registration/correspondence_rejection_median_distance.h
index 71655f912b6..0954aca4fb2 100644
--- a/registration/include/pcl/registration/correspondence_rejection_median_distance.h
+++ b/registration/include/pcl/registration/correspondence_rejection_median_distance.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 #include <pcl/point_cloud.h>
@@ -209,5 +209,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
diff --git a/registration/include/pcl/registration/correspondence_rejection_one_to_one.h b/registration/include/pcl/registration/correspondence_rejection_one_to_one.h
index 5e08e1531c4..1e9da236d00 100644
--- a/registration/include/pcl/registration/correspondence_rejection_one_to_one.h
+++ b/registration/include/pcl/registration/correspondence_rejection_one_to_one.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 
@@ -94,5 +94,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_one_to_one.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
diff --git a/registration/include/pcl/registration/correspondence_rejection_organized_boundary.h b/registration/include/pcl/registration/correspondence_rejection_organized_boundary.h
index 4ceec18552d..0f30cc7f390 100644
--- a/registration/include/pcl/registration/correspondence_rejection_organized_boundary.h
+++ b/registration/include/pcl/registration/correspondence_rejection_organized_boundary.h
@@ -36,8 +36,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 
@@ -144,6 +143,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>
-
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_ */
diff --git a/registration/include/pcl/registration/correspondence_rejection_poly.h b/registration/include/pcl/registration/correspondence_rejection_poly.h
index 4be18370e1a..eebc84fa6fe 100644
--- a/registration/include/pcl/registration/correspondence_rejection_poly.h
+++ b/registration/include/pcl/registration/correspondence_rejection_poly.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 #include <pcl/point_cloud.h>
@@ -381,5 +381,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_poly.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
diff --git a/registration/include/pcl/registration/correspondence_rejection_sample_consensus.h b/registration/include/pcl/registration/correspondence_rejection_sample_consensus.h
index fe9bb0ba727..12d3b5bfe86 100644
--- a/registration/include/pcl/registration/correspondence_rejection_sample_consensus.h
+++ b/registration/include/pcl/registration/correspondence_rejection_sample_consensus.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 
@@ -245,5 +245,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
diff --git a/registration/include/pcl/registration/correspondence_rejection_sample_consensus_2d.h b/registration/include/pcl/registration/correspondence_rejection_sample_consensus_2d.h
index cfbd9fa0ca4..ba1cea1f541 100644
--- a/registration/include/pcl/registration/correspondence_rejection_sample_consensus_2d.h
+++ b/registration/include/pcl/registration/correspondence_rejection_sample_consensus_2d.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
+#pragma once
 
 #include <pcl/registration/correspondence_rejection_sample_consensus.h>
 
@@ -160,6 +159,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
-
diff --git a/registration/include/pcl/registration/correspondence_rejection_surface_normal.h b/registration/include/pcl/registration/correspondence_rejection_surface_normal.h
index 9eda90b7c7b..032816cc42b 100644
--- a/registration/include/pcl/registration/correspondence_rejection_surface_normal.h
+++ b/registration/include/pcl/registration/correspondence_rejection_surface_normal.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 #include <pcl/point_cloud.h>
@@ -321,5 +321,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>
-
-#endif
diff --git a/registration/include/pcl/registration/correspondence_rejection_trimmed.h b/registration/include/pcl/registration/correspondence_rejection_trimmed.h
index d92c66f065f..70a2aca2d7a 100644
--- a/registration/include/pcl/registration/correspondence_rejection_trimmed.h
+++ b/registration/include/pcl/registration/correspondence_rejection_trimmed.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 
@@ -137,5 +137,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_trimmed.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
diff --git a/registration/include/pcl/registration/correspondence_rejection_var_trimmed.h b/registration/include/pcl/registration/correspondence_rejection_var_trimmed.h
index 5a92a66739b..6df0d705705 100644
--- a/registration/include/pcl/registration/correspondence_rejection_var_trimmed.h
+++ b/registration/include/pcl/registration/correspondence_rejection_var_trimmed.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
+
+#pragma once
 
 #include <pcl/registration/correspondence_rejection.h>
 #include <pcl/point_cloud.h>
@@ -251,5 +251,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp>
-
-#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ 
diff --git a/registration/include/pcl/registration/correspondence_sorting.h b/registration/include/pcl/registration/correspondence_sorting.h
index 83eb64e07f8..e9c6f8596a3 100644
--- a/registration/include/pcl/registration/correspondence_sorting.h
+++ b/registration/include/pcl/registration/correspondence_sorting.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_
+
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header
@@ -140,5 +140,3 @@ namespace pcl
 
   }
 }
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_ */
diff --git a/registration/include/pcl/registration/correspondence_types.h b/registration/include/pcl/registration/correspondence_types.h
index 57649923a04..7a3ad204bee 100644
--- a/registration/include/pcl/registration/correspondence_types.h
+++ b/registration/include/pcl/registration/correspondence_types.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_CORRESPONDENCE_TYPES_H_
-#define PCL_REGISTRATION_CORRESPONDENCE_TYPES_H_
+
+#pragma once
 
 #include <pcl/correspondence.h>
 
@@ -75,5 +75,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/correspondence_types.hpp>
-
-#endif /* PCL_REGISTRATION_CORRESPONDENCE_TYPES_H_ */
diff --git a/registration/include/pcl/registration/default_convergence_criteria.h b/registration/include/pcl/registration/default_convergence_criteria.h
index 32f623e83e4..606fd5208f6 100644
--- a/registration/include/pcl/registration/default_convergence_criteria.h
+++ b/registration/include/pcl/registration/default_convergence_criteria.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_
-#define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_
+#pragma once
 
 #include <pcl/registration/eigen.h>
 #include <pcl/correspondence.h>
@@ -276,6 +275,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/default_convergence_criteria.hpp>
-
-#endif    // PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_
-
diff --git a/registration/include/pcl/registration/distances.h b/registration/include/pcl/registration/distances.h
index a6886a80c59..3fd6cdbd259 100644
--- a/registration/include/pcl/registration/distances.h
+++ b/registration/include/pcl/registration/distances.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_DISTANCES_H
-#define PCL_REGISTRATION_DISTANCES_H
+
+#pragma once
 
 #include <pcl/registration/eigen.h>
 #include <vector>
@@ -141,5 +141,3 @@ namespace pcl
     }
   }
 }
-
-#endif
diff --git a/registration/include/pcl/registration/edge_measurements.h b/registration/include/pcl/registration/edge_measurements.h
index 5499bdef426..148872f5ec4 100644
--- a/registration/include/pcl/registration/edge_measurements.h
+++ b/registration/include/pcl/registration/edge_measurements.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_EDGE_MEASUREMENTS_H_
-#define PCL_EDGE_MEASUREMENTS_H_
+#pragma once
 
 namespace pcl
 {
@@ -69,5 +68,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_EDGE_MEASUREMENTS_H_
diff --git a/registration/include/pcl/registration/eigen.h b/registration/include/pcl/registration/eigen.h
index fdfa07aff11..3f1c831ca7b 100644
--- a/registration/include/pcl/registration/eigen.h
+++ b/registration/include/pcl/registration/eigen.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_EIGEN_H_
-#define PCL_REGISTRATION_EIGEN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -48,5 +47,3 @@
 #include <Eigen/Geometry>
 #include <unsupported/Eigen/Polynomials>
 #include <Eigen/Dense>
-
-#endif    // PCL_REGISTRATION_EIGEN_H_
diff --git a/registration/include/pcl/registration/elch.h b/registration/include/pcl/registration/elch.h
index aa45b3ea701..6c7ffd6ec68 100644
--- a/registration/include/pcl/registration/elch.h
+++ b/registration/include/pcl/registration/elch.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_ELCH_H_
-#define PCL_ELCH_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_types.h>
@@ -255,5 +254,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/elch.hpp>
-
-#endif // PCL_ELCH_H_
diff --git a/registration/include/pcl/registration/exceptions.h b/registration/include/pcl/registration/exceptions.h
index 875d441758c..327202edd8e 100644
--- a/registration/include/pcl/registration/exceptions.h
+++ b/registration/include/pcl/registration/exceptions.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_EXCEPTIONS_H_
-#define PCL_REGISTRATION_EXCEPTIONS_H_
+
+#pragma once
 
 #include <pcl/exceptions.h>
 
@@ -73,4 +73,3 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   } ;
 }
-#endif//PCL_REGISTRATION_EXCEPTIONS_H_
diff --git a/registration/include/pcl/registration/gicp.h b/registration/include/pcl/registration/gicp.h
index 3f1c064382c..cf2453d6a9e 100644
--- a/registration/include/pcl/registration/gicp.h
+++ b/registration/include/pcl/registration/gicp.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GICP_H_
-#define PCL_GICP_H_
+#pragma once
 
 #include <pcl/registration/icp.h>
 #include <pcl/registration/bfgs.h>
@@ -364,5 +363,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/gicp.hpp>
-
-#endif  //#ifndef PCL_GICP_H_
diff --git a/registration/include/pcl/registration/gicp6d.h b/registration/include/pcl/registration/gicp6d.h
index 6f0bd3b6a00..16caa435451 100644
--- a/registration/include/pcl/registration/gicp6d.h
+++ b/registration/include/pcl/registration/gicp6d.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_GICP6D_H_
-#define PCL_GICP6D_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -206,5 +205,3 @@ namespace pcl
       MyPointRepresentation point_rep_;
   };
 }
-
-#endif //#ifndef PCL_GICP6D_H_
diff --git a/registration/include/pcl/registration/graph_handler.h b/registration/include/pcl/registration/graph_handler.h
index 814bb09a598..476f3725e01 100644
--- a/registration/include/pcl/registration/graph_handler.h
+++ b/registration/include/pcl/registration/graph_handler.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GRAPH_HANDLER_H_
-#define PCL_GRAPH_HANDLER_H_
+#pragma once
 
 #include <pcl/registration/vertex_estimates.h>
 #include <pcl/registration/edge_measurements.h>
@@ -212,5 +211,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_GRAPH_HANDLER_H_
diff --git a/registration/include/pcl/registration/graph_optimizer.h b/registration/include/pcl/registration/graph_optimizer.h
index 73f867d68a4..eee576d2cf9 100644
--- a/registration/include/pcl/registration/graph_optimizer.h
+++ b/registration/include/pcl/registration/graph_optimizer.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GRAPH_OPTIMIZER_H_
-#define PCL_GRAPH_OPTIMIZER_H_
+#pragma once
 
 #include <pcl/registration/graph_handler.h>
 
@@ -67,5 +66,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_GRAPH_OPTIMIZER_H_
diff --git a/registration/include/pcl/registration/graph_registration.h b/registration/include/pcl/registration/graph_registration.h
index 7e98c785307..ff944d09077 100644
--- a/registration/include/pcl/registration/graph_registration.h
+++ b/registration/include/pcl/registration/graph_registration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_GRAPH_REGISTRATION_H_
-#define PCL_GRAPH_REGISTRATION_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/registration/graph_handler.h>
@@ -123,5 +122,3 @@ namespace pcl
       computeRegistration () = 0;
   };
 }
-
-#endif // PCL_GRAPH_REGISTRATION_H_
diff --git a/registration/include/pcl/registration/ia_fpcs.h b/registration/include/pcl/registration/ia_fpcs.h
index 6691f24627d..4bdc73268bd 100644
--- a/registration/include/pcl/registration/ia_fpcs.h
+++ b/registration/include/pcl/registration/ia_fpcs.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_IA_FPCS_H_
-#define PCL_REGISTRATION_IA_FPCS_H_
+#pragma once
 
 #include <pcl/common/common.h>
 #include <pcl/registration/registration.h>
@@ -566,5 +565,3 @@ namespace pcl
 }; // namespace pcl 
 
 #include <pcl/registration/impl/ia_fpcs.hpp>
-
-#endif // PCL_REGISTRATION_IA_FPCS_H_
diff --git a/registration/include/pcl/registration/ia_kfpcs.h b/registration/include/pcl/registration/ia_kfpcs.h
index 5b57f17153a..3a09d1dbe53 100644
--- a/registration/include/pcl/registration/ia_kfpcs.h
+++ b/registration/include/pcl/registration/ia_kfpcs.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_IA_KFPCS_H_
-#define PCL_REGISTRATION_IA_KFPCS_H_
+#pragma once
 
 #include <pcl/registration/ia_fpcs.h>
 
@@ -258,5 +257,3 @@ namespace pcl
 }; // namespace pcl 
 
 #include <pcl/registration/impl/ia_kfpcs.hpp>
-
-#endif // PCL_REGISTRATION_IA_KFPCS_H_
diff --git a/registration/include/pcl/registration/icp.h b/registration/include/pcl/registration/icp.h
index 536fd5a6e60..72899c312b0 100644
--- a/registration/include/pcl/registration/icp.h
+++ b/registration/include/pcl/registration/icp.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_ICP_H_
-#define PCL_ICP_H_
+#pragma once
 
 // PCL includes
 #include <pcl/sample_consensus/ransac.h>
@@ -335,5 +334,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/icp.hpp>
-
-#endif  //#ifndef PCL_ICP_H_
diff --git a/registration/include/pcl/registration/icp_nl.h b/registration/include/pcl/registration/icp_nl.h
index 30b21e374e4..cd80d7c8685 100644
--- a/registration/include/pcl/registration/icp_nl.h
+++ b/registration/include/pcl/registration/icp_nl.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_ICP_NL_H_
-#define PCL_ICP_NL_H_
+#pragma once
 
 // PCL includes
 #include <pcl/registration/icp.h>
@@ -89,5 +88,3 @@ namespace pcl
       }
   };
 }
-
-#endif  //#ifndef PCL_ICP_NL_H_
diff --git a/registration/include/pcl/registration/incremental_registration.h b/registration/include/pcl/registration/incremental_registration.h
index 6e6c9da83b8..fa5cce46d20 100644
--- a/registration/include/pcl/registration/incremental_registration.h
+++ b/registration/include/pcl/registration/incremental_registration.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_
-#define PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/registration/registration.h>
@@ -126,5 +125,3 @@ namespace pcl {
 }
 
 #include <pcl/registration/impl/incremental_registration.hpp>
-
-#endif /*PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_*/
diff --git a/registration/include/pcl/registration/joint_icp.h b/registration/include/pcl/registration/joint_icp.h
index d51d76b551e..85231e3a7f4 100644
--- a/registration/include/pcl/registration/joint_icp.h
+++ b/registration/include/pcl/registration/joint_icp.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_JOINT_ICP_H_
-#define PCL_JOINT_ICP_H_
+#pragma once
 
 // PCL includes
 #include <pcl/registration/icp.h>
@@ -227,7 +226,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/joint_icp.hpp>
-
-#endif  //#ifndef PCL_JOINT_ICP_H_
-
-
diff --git a/registration/include/pcl/registration/lum.h b/registration/include/pcl/registration/lum.h
index 6b488074c8f..b11330ee3b0 100644
--- a/registration/include/pcl/registration/lum.h
+++ b/registration/include/pcl/registration/lum.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_LUM_H_
-#define PCL_REGISTRATION_LUM_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/registration/eigen.h>
@@ -342,6 +341,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/registration/impl/lum.hpp>
 #endif
-
-#endif  // PCL_REGISTRATION_LUM_H_
-
diff --git a/registration/include/pcl/registration/matching_candidate.h b/registration/include/pcl/registration/matching_candidate.h
index 8389540a038..0dccb3e03e4 100644
--- a/registration/include/pcl/registration/matching_candidate.h
+++ b/registration/include/pcl/registration/matching_candidate.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_MATCHING_CANDIDATE_H_
-#define PCL_REGISTRATION_MATCHING_CANDIDATE_H_
+#pragma once
 
 #include <pcl/registration/registration.h>
 #include <pcl/common/common.h>
@@ -99,6 +98,3 @@ namespace pcl
 
   };  // namespace registration
 }; // namespace pcl
-
-
-#endif // PCL_REGISTRATION_MATCHING_CANDIDATE_H_
diff --git a/registration/include/pcl/registration/meta_registration.h b/registration/include/pcl/registration/meta_registration.h
index 6d51c649085..925ba786753 100644
--- a/registration/include/pcl/registration/meta_registration.h
+++ b/registration/include/pcl/registration/meta_registration.h
@@ -35,8 +35,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_REGISTRATION_META_REGISTRATION_H_
-#define PCL_REGISTRATION_META_REGISTRATION_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/registration/registration.h>
@@ -127,5 +126,3 @@ namespace pcl {
 }
 
 #include <pcl/registration/impl/meta_registration.hpp>
-
-#endif /*PCL_REGISTRATION_META_REGISTRATION_H_*/
diff --git a/registration/include/pcl/registration/ndt.h b/registration/include/pcl/registration/ndt.h
index 3c9fa05c3df..0a62b48cf1a 100644
--- a/registration/include/pcl/registration/ndt.h
+++ b/registration/include/pcl/registration/ndt.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_NDT_H_
-#define PCL_REGISTRATION_NDT_H_
+#pragma once
 
 #include <pcl/registration/registration.h>
 #include <pcl/filters/voxel_grid_covariance.h>
@@ -466,5 +465,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/ndt.hpp>
-
-#endif // PCL_REGISTRATION_NDT_H_
diff --git a/registration/include/pcl/registration/ndt_2d.h b/registration/include/pcl/registration/ndt_2d.h
index a0643b78150..5e369b45e02 100644
--- a/registration/include/pcl/registration/ndt_2d.h
+++ b/registration/include/pcl/registration/ndt_2d.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_NDT_2D_H_
-#define PCL_NDT_2D_H_
+#pragma once
 
 #include <pcl/registration/registration.h>
 
@@ -153,6 +152,3 @@ namespace pcl
 } // namespace pcl
 
 #include <pcl/registration/impl/ndt_2d.hpp>
-
-#endif // ndef PCL_NDT_2D_H_
-
diff --git a/registration/include/pcl/registration/pairwise_graph_registration.h b/registration/include/pcl/registration/pairwise_graph_registration.h
index cf83619883c..3cfc5596fba 100644
--- a/registration/include/pcl/registration/pairwise_graph_registration.h
+++ b/registration/include/pcl/registration/pairwise_graph_registration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_PAIRWISE_GRAPH_REGISTRATION_H_
-#define PCL_PAIRWISE_GRAPH_REGISTRATION_H_
+#pragma once
 
 #include <pcl/registration/graph_registration.h>
 #include <pcl/registration/registration.h>
@@ -114,5 +113,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/pairwise_graph_registration.hpp>
-
-#endif // PCL_PAIRWISE_GRAPH_REGISTRATION_H_
diff --git a/registration/include/pcl/registration/ppf_registration.h b/registration/include/pcl/registration/ppf_registration.h
index 2560ec6fd63..9966cc01f6b 100644
--- a/registration/include/pcl/registration/ppf_registration.h
+++ b/registration/include/pcl/registration/ppf_registration.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_PPF_REGISTRATION_H_
-#define PCL_PPF_REGISTRATION_H_
+#pragma once
 
 #include <pcl/registration/boost.h>
 #include <pcl/registration/registration.h>
@@ -287,5 +285,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/ppf_registration.hpp>
-
-#endif // PCL_PPF_REGISTRATION_H_
diff --git a/registration/include/pcl/registration/pyramid_feature_matching.h b/registration/include/pcl/registration/pyramid_feature_matching.h
index dda7e14e4e0..30c0ce9283b 100644
--- a/registration/include/pcl/registration/pyramid_feature_matching.h
+++ b/registration/include/pcl/registration/pyramid_feature_matching.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_PYRAMID_FEATURE_MATCHING_H_
-#define PCL_PYRAMID_FEATURE_MATCHING_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_representation.h>
@@ -198,5 +197,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/registration/impl/pyramid_feature_matching.hpp>
 #endif
-
-#endif    // PCL_PYRAMID_FEATURE_MATCHING_H_
diff --git a/registration/include/pcl/registration/registration.h b/registration/include/pcl/registration/registration.h
index d291d73ee22..907860583ac 100644
--- a/registration/include/pcl/registration/registration.h
+++ b/registration/include/pcl/registration/registration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_H_
-#define PCL_REGISTRATION_H_
+#pragma once
 
 // PCL includes
 #include <pcl/pcl_base.h>
@@ -610,5 +609,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/registration.hpp>
-
-#endif  //#ifndef PCL_REGISTRATION_H_
diff --git a/registration/include/pcl/registration/sample_consensus_prerejective.h b/registration/include/pcl/registration/sample_consensus_prerejective.h
index 8ef2ada3f0e..16083124431 100644
--- a/registration/include/pcl/registration/sample_consensus_prerejective.h
+++ b/registration/include/pcl/registration/sample_consensus_prerejective.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_
-#define PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_
+#pragma once
 
 #include <pcl/registration/registration.h>
 #include <pcl/registration/transformation_estimation_svd.h>
@@ -316,5 +315,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/sample_consensus_prerejective.hpp>
-
-#endif
diff --git a/registration/include/pcl/registration/transformation_estimation.h b/registration/include/pcl/registration/transformation_estimation.h
index 55e390c235e..2c07eeefa39 100644
--- a/registration/include/pcl/registration/transformation_estimation.h
+++ b/registration/include/pcl/registration/transformation_estimation.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
+
+#pragma once
 
 #include <pcl/correspondence.h>
 #include <pcl/common/transforms.h>
@@ -125,5 +125,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_2D.h b/registration/include/pcl/registration/transformation_estimation_2D.h
index 4bdd96fbd96..a597e789cd1 100644
--- a/registration/include/pcl/registration/transformation_estimation_2D.h
+++ b/registration/include/pcl/registration/transformation_estimation_2D.h
@@ -35,8 +35,8 @@
  *
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 
@@ -151,5 +151,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_2D.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_3point.h b/registration/include/pcl/registration/transformation_estimation_3point.h
index 43226fb762c..8cf88094e19 100644
--- a/registration/include/pcl/registration/transformation_estimation_3point.h
+++ b/registration/include/pcl/registration/transformation_estimation_3point.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_3POINT_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_3POINT_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 
@@ -141,5 +141,3 @@ namespace pcl
 }; // namespace registration  
 
 #include <pcl/registration/impl/transformation_estimation_3point.hpp>
-
-#endif // PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_3POINT_H_
diff --git a/registration/include/pcl/registration/transformation_estimation_dq.h b/registration/include/pcl/registration/transformation_estimation_dq.h
index 27bad867cc9..c4c5423f939 100644
--- a/registration/include/pcl/registration/transformation_estimation_dq.h
+++ b/registration/include/pcl/registration/transformation_estimation_dq.h
@@ -36,8 +36,8 @@
  *
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/cloud_iterator.h>
@@ -138,5 +138,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_dq.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_dual_quaternion.h b/registration/include/pcl/registration/transformation_estimation_dual_quaternion.h
index 6d49aaf212c..d0b03922c67 100644
--- a/registration/include/pcl/registration/transformation_estimation_dual_quaternion.h
+++ b/registration/include/pcl/registration/transformation_estimation_dual_quaternion.h
@@ -36,8 +36,8 @@
  *
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/cloud_iterator.h>
@@ -138,5 +138,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_dual_quaternion.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_lm.h b/registration/include/pcl/registration/transformation_estimation_lm.h
index 601b3fc5b21..cd18d98528c 100644
--- a/registration/include/pcl/registration/transformation_estimation_lm.h
+++ b/registration/include/pcl/registration/transformation_estimation_lm.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/registration/warp_point_rigid.h>
@@ -351,6 +351,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_lm.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ */
-
diff --git a/registration/include/pcl/registration/transformation_estimation_point_to_plane.h b/registration/include/pcl/registration/transformation_estimation_point_to_plane.h
index 9b6c00dad65..50559b9c09b 100644
--- a/registration/include/pcl/registration/transformation_estimation_point_to_plane.h
+++ b/registration/include/pcl/registration/transformation_estimation_point_to_plane.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/registration/transformation_estimation_lm.h>
@@ -96,6 +96,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ */
-
diff --git a/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h b/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h
index 6b10cde6a80..1f49401db8d 100644
--- a/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h
+++ b/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_ 
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/registration/warp_point_rigid.h>
@@ -154,5 +154,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_LLS_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h b/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h
index 6af60f0d31a..1f113571abb 100644
--- a/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h
+++ b/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/registration/warp_point_rigid.h>
@@ -165,5 +165,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls_weighted.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_  */
diff --git a/registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h b/registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h
index 42931cb03c2..98e15ef7fda 100644
--- a/registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h
+++ b/registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h
@@ -36,9 +36,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_
+#pragma once
 
 #include <pcl/registration/transformation_estimation_point_to_plane.h>
 #include <pcl/registration/warp_point_rigid.h>
@@ -336,6 +334,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_ */
-
diff --git a/registration/include/pcl/registration/transformation_estimation_svd.h b/registration/include/pcl/registration/transformation_estimation_svd.h
index ba082c14c16..6ecb19ac8d6 100644
--- a/registration/include/pcl/registration/transformation_estimation_svd.h
+++ b/registration/include/pcl/registration/transformation_estimation_svd.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/cloud_iterator.h>
@@ -157,5 +157,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_svd.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */
diff --git a/registration/include/pcl/registration/transformation_estimation_svd_scale.h b/registration/include/pcl/registration/transformation_estimation_svd_scale.h
index 045c830ea9a..e59a1fb1a8e 100644
--- a/registration/include/pcl/registration/transformation_estimation_svd_scale.h
+++ b/registration/include/pcl/registration/transformation_estimation_svd_scale.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
-#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
+
+#pragma once
 
 #include <pcl/registration/transformation_estimation_svd.h>
 
@@ -88,5 +88,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_estimation_svd_scale.hpp>
-
-#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */
diff --git a/registration/include/pcl/registration/transformation_validation.h b/registration/include/pcl/registration/transformation_validation.h
index 41f5628d1db..9d93b42db13 100644
--- a/registration/include/pcl/registration/transformation_validation.h
+++ b/registration/include/pcl/registration/transformation_validation.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
-#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
+
+#pragma once
 
 #include <pcl/correspondence.h>
 #include <pcl/features/feature.h>
@@ -127,5 +127,3 @@ namespace pcl
     };
   }
 }
-
-#endif    // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
diff --git a/registration/include/pcl/registration/transformation_validation_euclidean.h b/registration/include/pcl/registration/transformation_validation_euclidean.h
index ce2d37467fb..21b466e8b12 100644
--- a/registration/include/pcl/registration/transformation_validation_euclidean.h
+++ b/registration/include/pcl/registration/transformation_validation_euclidean.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
-#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
+
+#pragma once
 
 #include <pcl/point_representation.h>
 #include <pcl/search/kdtree.h>
@@ -265,6 +265,3 @@ namespace pcl
 }
 
 #include <pcl/registration/impl/transformation_validation_euclidean.hpp>
-
-#endif    // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
-
diff --git a/registration/include/pcl/registration/transforms.h b/registration/include/pcl/registration/transforms.h
index 3937c832384..3101974d530 100644
--- a/registration/include/pcl/registration/transforms.h
+++ b/registration/include/pcl/registration/transforms.h
@@ -37,9 +37,7 @@
  * $Id$
  *
  */
-#ifndef PCL_REGISTRATION_TRANSFORMS_H_
-#define PCL_REGISTRATION_TRANSFORMS_H_
 
-#include <pcl/common/transforms.h>
+#pragma once
 
-#endif // PCL_REGISTRATION_TRANSFORMS_H_
+#include <pcl/common/transforms.h>
diff --git a/registration/include/pcl/registration/vertex_estimates.h b/registration/include/pcl/registration/vertex_estimates.h
index 40812e69157..71603533e3b 100644
--- a/registration/include/pcl/registration/vertex_estimates.h
+++ b/registration/include/pcl/registration/vertex_estimates.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_VERTEX_ESTIMATES_H_
-#define PCL_VERTEX_ESTIMATES_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -70,5 +69,3 @@ namespace pcl
     };
   }
 }
-
-#endif // PCL_VERTEX_ESTIMATES_H_
diff --git a/registration/include/pcl/registration/warp_point_rigid.h b/registration/include/pcl/registration/warp_point_rigid.h
index efdcfa79b19..4ad391d0fd3 100644
--- a/registration/include/pcl/registration/warp_point_rigid.h
+++ b/registration/include/pcl/registration/warp_point_rigid.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_WARP_POINT_RIGID_H_
-#define PCL_WARP_POINT_RIGID_H_
+#pragma once
 
 #include <pcl/registration/eigen.h>
 
@@ -129,5 +128,3 @@ namespace pcl
     };
   } // namespace registration
 } // namespace pcl
-
-#endif
diff --git a/registration/include/pcl/registration/warp_point_rigid_3d.h b/registration/include/pcl/registration/warp_point_rigid_3d.h
index 0a0731f1346..094e073edb0 100644
--- a/registration/include/pcl/registration/warp_point_rigid_3d.h
+++ b/registration/include/pcl/registration/warp_point_rigid_3d.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_WARP_POINT_RIGID_3D_H_
-#define PCL_WARP_POINT_RIGID_3D_H_
+#pragma once
 
 #include <pcl/registration/eigen.h>
 #include <pcl/registration/warp_point_rigid.h>
@@ -95,6 +93,3 @@ namespace pcl
     };
   }
 }
-
-#endif
-
diff --git a/registration/include/pcl/registration/warp_point_rigid_6d.h b/registration/include/pcl/registration/warp_point_rigid_6d.h
index 84b1c0dbf9e..9e23f3b95fb 100644
--- a/registration/include/pcl/registration/warp_point_rigid_6d.h
+++ b/registration/include/pcl/registration/warp_point_rigid_6d.h
@@ -38,9 +38,7 @@
  *
  */
 
-
-#ifndef PCL_WARP_POINT_RIGID_6D_H_
-#define PCL_WARP_POINT_RIGID_6D_H_
+#pragma once
 
 #include <pcl/registration/warp_point_rigid.h>
 
@@ -97,6 +95,3 @@ namespace pcl
     };
   }
 }
-
-#endif
-
diff --git a/sample_consensus/include/pcl/sample_consensus/boost.h b/sample_consensus/include/pcl/sample_consensus/boost.h
index 991ebb4e2ce..4afdf893184 100644
--- a/sample_consensus/include/pcl/sample_consensus/boost.h
+++ b/sample_consensus/include/pcl/sample_consensus/boost.h
@@ -37,13 +37,10 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_BOOST_H_
-#define PCL_SAMPLE_CONSENSUS_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
 #endif
 
 #include <boost/random.hpp>
-
-#endif    // PCL_SAMPLE_CONSENSUS_BOOST_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/eigen.h b/sample_consensus/include/pcl/sample_consensus/eigen.h
index 674717c1f07..6d4f64900b5 100644
--- a/sample_consensus/include/pcl/sample_consensus/eigen.h
+++ b/sample_consensus/include/pcl/sample_consensus/eigen.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_EIGEN_H_
-#define PCL_SAMPLE_CONSENSUS_EIGEN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -46,5 +45,3 @@
 
 #include <Eigen/Core>
 #include <unsupported/Eigen/NonLinearOptimization>
-
-#endif    // PCL_SAMPLE_CONSENSUS_EIGEN_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/lmeds.h b/sample_consensus/include/pcl/sample_consensus/lmeds.h
index 81f224f836b..b59f87fc295 100644
--- a/sample_consensus/include/pcl/sample_consensus/lmeds.h
+++ b/sample_consensus/include/pcl/sample_consensus/lmeds.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_LMEDS_H_
-#define PCL_SAMPLE_CONSENSUS_LMEDS_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -102,6 +101,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/lmeds.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_LMEDS_H_
-
diff --git a/sample_consensus/include/pcl/sample_consensus/method_types.h b/sample_consensus/include/pcl/sample_consensus/method_types.h
index 85786eb9684..0eb0e472478 100644
--- a/sample_consensus/include/pcl/sample_consensus/method_types.h
+++ b/sample_consensus/include/pcl/sample_consensus/method_types.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_METHOD_TYPES_H_
-#define PCL_SAMPLE_CONSENSUS_METHOD_TYPES_H_
+#pragma once
 
 namespace pcl
 {
@@ -51,5 +50,3 @@ namespace pcl
   const static int SAC_MLESAC  = 5;
   const static int SAC_PROSAC  = 6;
 }
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_METHOD_TYPES_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/mlesac.h b/sample_consensus/include/pcl/sample_consensus/mlesac.h
index 3634175bd4f..cfd7448e7a1 100644
--- a/sample_consensus/include/pcl/sample_consensus/mlesac.h
+++ b/sample_consensus/include/pcl/sample_consensus/mlesac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
-#define PCL_SAMPLE_CONSENSUS_MLESAC_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -160,5 +159,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/mlesac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/model_types.h b/sample_consensus/include/pcl/sample_consensus/model_types.h
index 4584aa988cf..27670b65ce7 100644
--- a/sample_consensus/include/pcl/sample_consensus/model_types.h
+++ b/sample_consensus/include/pcl/sample_consensus/model_types.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
+#pragma once
 
 namespace pcl
 {
@@ -65,5 +64,3 @@ namespace pcl
     SACMODEL_STICK
   };
 }
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/msac.h b/sample_consensus/include/pcl/sample_consensus/msac.h
index 38166176ccc..decd3f22cda 100644
--- a/sample_consensus/include/pcl/sample_consensus/msac.h
+++ b/sample_consensus/include/pcl/sample_consensus/msac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
-#define PCL_SAMPLE_CONSENSUS_MSAC_H_
+#pragma once
 
 #include <algorithm>
 #include <pcl/sample_consensus/sac.h>
@@ -103,5 +102,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/msac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/prosac.h b/sample_consensus/include/pcl/sample_consensus/prosac.h
index 491daa585fd..4c310e955d4 100644
--- a/sample_consensus/include/pcl/sample_consensus/prosac.h
+++ b/sample_consensus/include/pcl/sample_consensus/prosac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_
-#define PCL_SAMPLE_CONSENSUS_PROSAC_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -102,5 +101,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/prosac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/ransac.h b/sample_consensus/include/pcl/sample_consensus/ransac.h
index e010f1c0060..d09b12846c0 100644
--- a/sample_consensus/include/pcl/sample_consensus/ransac.h
+++ b/sample_consensus/include/pcl/sample_consensus/ransac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
-#define PCL_SAMPLE_CONSENSUS_RANSAC_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -102,6 +101,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/ransac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
-
diff --git a/sample_consensus/include/pcl/sample_consensus/rmsac.h b/sample_consensus/include/pcl/sample_consensus/rmsac.h
index 69656f100a7..0fbfb3cb170 100644
--- a/sample_consensus/include/pcl/sample_consensus/rmsac.h
+++ b/sample_consensus/include/pcl/sample_consensus/rmsac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
-#define PCL_SAMPLE_CONSENSUS_RMSAC_H_
+#pragma once
 
 #include <algorithm>
 #include <pcl/sample_consensus/sac.h>
@@ -120,5 +119,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/rmsac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/rransac.h b/sample_consensus/include/pcl/sample_consensus/rransac.h
index b9f0aa6f1d2..6ef4daf76c0 100644
--- a/sample_consensus/include/pcl/sample_consensus/rransac.h
+++ b/sample_consensus/include/pcl/sample_consensus/rransac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
-#define PCL_SAMPLE_CONSENSUS_RRANSAC_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -119,6 +118,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/rransac.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
-
diff --git a/sample_consensus/include/pcl/sample_consensus/sac.h b/sample_consensus/include/pcl/sample_consensus/sac.h
index 1b4d50a3d0e..7ac96ce9f77 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_H_
-#define PCL_SAMPLE_CONSENSUS_H_
+#pragma once
 
 #include <pcl/sample_consensus/boost.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -344,5 +343,3 @@ namespace pcl
       }
    };
 }
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model.h b/sample_consensus/include/pcl/sample_consensus/sac_model.h
index 1af4891ad43..64b0c490f87 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_H_
+#pragma once
 
 #include <cfloat>
 #include <ctime>
@@ -681,5 +680,3 @@ namespace pcl
       const int m_data_points_;
   };
 }
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_circle.h b/sample_consensus/include/pcl/sample_consensus/sac_model_circle.h
index 07762ea258c..d75dde518ff 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_circle.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_circle.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -260,5 +259,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_circle.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h b/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h
index af50086fc1e..42b842b427f 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -271,5 +270,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_circle3d.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_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 187083064b0..1d4a2f5f832 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -362,5 +361,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_cone.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_
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 c347c00f0fd..477ec1582ee 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -345,5 +344,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_cylinder.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_line.h b/sample_consensus/include/pcl/sample_consensus/sac_model_line.h
index 7b383465294..e59100350d1 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_line.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_line.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -196,5 +195,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_line.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h
index b828bbd5a77..c7e5277e5e5 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model_normal_plane.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -218,5 +217,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_normal_parallel_plane.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h
index 509f94a7933..a9533a02eb7 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
@@ -169,5 +168,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_normal_plane.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h
index ef5f27e5796..7c0eda2e208 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/sac_model_sphere.h>
@@ -169,5 +168,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_normal_sphere.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h b/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h
index afff15c1690..4f5a9003694 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model_line.h>
 
@@ -181,5 +180,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_parallel_line.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h
index 4807be6c935..589b40bff4b 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model_plane.h>
 #include <pcl/common/common.h>
@@ -188,5 +187,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h
index 91ff7bcf8a1..7e2ae1f4460 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model_plane.h>
 #include <pcl/common/common.h>
@@ -188,5 +187,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
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 e95d422415c..a7a70af88db 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -270,5 +269,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_plane.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_registration.h b/sample_consensus/include/pcl/sample_consensus/sac_model_registration.h
index 5d88cca3294..7e543377cbc 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_registration.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_registration.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_
+#pragma once
 
 #include <pcl/sample_consensus/eigen.h>
 #include <pcl/sample_consensus/sac_model.h>
@@ -331,5 +330,3 @@ namespace pcl
 }
 
 #include <pcl/sample_consensus/impl/sac_model_registration.hpp>
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h b/sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h
index 1268d63a46e..539852cb2ae 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model_registration.h>
 
@@ -221,6 +220,3 @@ namespace pcl
 }
 
 #include <pcl/sample_consensus/impl/sac_model_registration_2d.hpp>
-
-#endif    // PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
-
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
index 330de6df66f..6a680f62e05 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -276,5 +275,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_sphere.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_
diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_stick.h b/sample_consensus/include/pcl/sample_consensus/sac_model_stick.h
index 3755d64e5f8..018e92e67a5 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model_stick.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model_stick.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
-#define PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
+#pragma once
 
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/sample_consensus/model_types.h>
@@ -200,5 +199,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/sample_consensus/impl/sac_model_stick.hpp>
 #endif
-
-#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
diff --git a/search/include/pcl/search/brute_force.h b/search/include/pcl/search/brute_force.h
index 4bed1ea5144..723a5e0bcf6 100644
--- a/search/include/pcl/search/brute_force.h
+++ b/search/include/pcl/search/brute_force.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEARCH_BRUTE_FORCE_H_
-#define PCL_SEARCH_BRUTE_FORCE_H_
+#pragma once
 
 #include <pcl/search/search.h>
 
@@ -145,5 +144,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/search/impl/brute_force.hpp>
 #endif
-
-#endif    // PCL_SEARCH_BRUTE_FORCE_H_
diff --git a/search/include/pcl/search/flann_search.h b/search/include/pcl/search/flann_search.h
index f411ce82d32..bafec67d284 100644
--- a/search/include/pcl/search/flann_search.h
+++ b/search/include/pcl/search/flann_search.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_SEARCH_FLANN_SEARCH_H_
-#define PCL_SEARCH_FLANN_SEARCH_H_
+#pragma once
 
 #include <pcl/search/search.h>
 #include <pcl/common/time.h>
@@ -370,6 +369,3 @@ namespace pcl
 }
 
 #define PCL_INSTANTIATE_FlannSearch(T) template class PCL_EXPORTS pcl::search::FlannSearch<T>;
-
-#endif    // PCL_SEARCH_KDTREE_H_
-
diff --git a/search/include/pcl/search/kdtree.h b/search/include/pcl/search/kdtree.h
index dac72543744..be1cadc0e7f 100644
--- a/search/include/pcl/search/kdtree.h
+++ b/search/include/pcl/search/kdtree.h
@@ -37,8 +37,7 @@
  * $Id$
  */
 
-#ifndef PCL_SEARCH_KDTREE_H_
-#define PCL_SEARCH_KDTREE_H_
+#pragma once
 
 #include <pcl/search/search.h>
 #include <pcl/kdtree/kdtree_flann.h>
@@ -178,6 +177,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;
 #endif
-
-#endif    // PCL_SEARCH_KDTREE_H_
-
diff --git a/search/include/pcl/search/octree.h b/search/include/pcl/search/octree.h
index dc5f701a76c..0b9ce181f72 100644
--- a/search/include/pcl/search/octree.h
+++ b/search/include/pcl/search/octree.h
@@ -36,8 +36,7 @@
  * $Id$
  */
 
-#ifndef PCL_SEARCH_OCTREE_H
-#define PCL_SEARCH_OCTREE_H
+#pragma once
 
 #include <pcl/search/search.h>
 #include <pcl/octree/octree_search.h>
@@ -289,5 +288,3 @@ namespace pcl
 #else
 #define PCL_INSTANTIATE_Octree(T) template class PCL_EXPORTS pcl::search::Octree<T>;
 #endif
-
-#endif    // PCL_SEARCH_OCTREE_H
diff --git a/search/include/pcl/search/organized.h b/search/include/pcl/search/organized.h
index 2f128bd815a..d3977eab984 100644
--- a/search/include/pcl/search/organized.h
+++ b/search/include/pcl/search/organized.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_
-#define PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -284,6 +283,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/search/impl/organized.hpp>
 #endif
-
-#endif
-
diff --git a/search/include/pcl/search/pcl_search.h b/search/include/pcl/search/pcl_search.h
index 4d8c5370b29..42bcb10b978 100644
--- a/search/include/pcl/search/pcl_search.h
+++ b/search/include/pcl/search/pcl_search.h
@@ -37,13 +37,9 @@
  *
  */
 
-#ifndef PCL_SEARCH_PCL_SEARCH_H_
-#define PCL_SEARCH_PCL_SEARCH_H_
+#pragma once
 
 #include <pcl/search/search.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/search/octree.h>
 #include <pcl/search/organized.h>
-
-#endif    // PCL_SEARCH_PCL_SEARCH_H_
-
diff --git a/search/include/pcl/search/search.h b/search/include/pcl/search/search.h
index 1d362c1a841..cabdd7456b4 100644
--- a/search/include/pcl/search/search.h
+++ b/search/include/pcl/search/search.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_SEARCH_SEARCH_H_
-#define PCL_SEARCH_SEARCH_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/for_each_type.h>
@@ -428,5 +427,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/search/impl/search.hpp>
 #endif
-
-#endif  //#ifndef _PCL_SEARCH_SEARCH_H_
diff --git a/segmentation/include/pcl/segmentation/approximate_progressive_morphological_filter.h b/segmentation/include/pcl/segmentation/approximate_progressive_morphological_filter.h
index 88101e419dc..da0ed5241c3 100644
--- a/segmentation/include/pcl/segmentation/approximate_progressive_morphological_filter.h
+++ b/segmentation/include/pcl/segmentation/approximate_progressive_morphological_filter.h
@@ -36,8 +36,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
-#define PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/search.h>
@@ -173,6 +172,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp>
 #endif
-
-#endif
-
diff --git a/segmentation/include/pcl/segmentation/boost.h b/segmentation/include/pcl/segmentation/boost.h
index f2baa9fbd49..92a03d468fe 100644
--- a/segmentation/include/pcl/segmentation/boost.h
+++ b/segmentation/include/pcl/segmentation/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_BOOST_H_
-#define PCL_SEGMENTATION_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -57,5 +56,3 @@
   #include <boost/graph/boykov_kolmogorov_max_flow.hpp>
 #endif 
 #endif
-
-#endif    // PCL_SEGMENTATION_BOOST_H_
diff --git a/segmentation/include/pcl/segmentation/comparator.h b/segmentation/include/pcl/segmentation/comparator.h
index ad12d3c1910..3e2a9dc6be7 100644
--- a/segmentation/include/pcl/segmentation/comparator.h
+++ b/segmentation/include/pcl/segmentation/comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_COMPARATOR_H_
-#define PCL_SEGMENTATION_COMPARATOR_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -101,5 +100,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif //#ifndef _PCL_SEGMENTATION_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h b/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
index eac5e3bec81..d1904322481 100644
--- a/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
+++ b/segmentation/include/pcl/segmentation/conditional_euclidean_clustering.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_
-#define PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_
+#pragma once
 
 #include <boost/function.hpp>
 
@@ -266,6 +265,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/conditional_euclidean_clustering.hpp>
 #endif
-
-#endif  // PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_
-
diff --git a/segmentation/include/pcl/segmentation/cpc_segmentation.h b/segmentation/include/pcl/segmentation/cpc_segmentation.h
index cc10277fd66..81043ef7343 100644
--- a/segmentation/include/pcl/segmentation/cpc_segmentation.h
+++ b/segmentation/include/pcl/segmentation/cpc_segmentation.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_CPC_SEGMENTATION_H_
-#define PCL_SEGMENTATION_CPC_SEGMENTATION_H_
+#pragma once
 
 // common includes
 #include <pcl/pcl_base.h>
@@ -284,5 +283,3 @@ namespace pcl
   #include <pcl/sample_consensus/impl/sac_model_plane.hpp>
   #include <pcl/segmentation/impl/extract_clusters.hpp>  
 #endif // PCL_NO_PRECOMPILE / PCL_ONLY_CORE_POINT_TYPES
-
-#endif // PCL_SEGMENTATION_CPC_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/crf_normal_segmentation.h b/segmentation/include/pcl/segmentation/crf_normal_segmentation.h
index d51606b1cd4..bb470693497 100644
--- a/segmentation/include/pcl/segmentation/crf_normal_segmentation.h
+++ b/segmentation/include/pcl/segmentation/crf_normal_segmentation.h
@@ -34,8 +34,7 @@
  *
  */
 
-#ifndef PCL_CRF_NORMAL_SEGMENTATION_H_
-#define PCL_CRF_NORMAL_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 
@@ -79,5 +78,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/crf_normal_segmentation.hpp>
 #endif
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/crf_segmentation.h b/segmentation/include/pcl/segmentation/crf_segmentation.h
index a84d3e33017..6f166423d3d 100644
--- a/segmentation/include/pcl/segmentation/crf_segmentation.h
+++ b/segmentation/include/pcl/segmentation/crf_segmentation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_CRF_SEGMENTATION_H_
-#define PCL_CRF_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -214,5 +213,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/crf_segmentation.hpp>
 #endif
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h b/segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h
index 7eb6d1c1645..075c369d6bc 100644
--- a/segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h
+++ b/segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_
-#define PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #include <pcl/segmentation/plane_coefficient_comparator.h>
@@ -210,5 +209,3 @@ namespace pcl
       float euclidean_distance_threshold_;
   };
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h b/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
index d7922308fb9..a0be09120e2 100644
--- a/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
+++ b/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_EUCLIDEAN_CLUSTER_COMPARATOR_H_
-#define PCL_SEGMENTATION_EUCLIDEAN_CLUSTER_COMPARATOR_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #include <pcl/segmentation/comparator.h>
@@ -277,5 +276,3 @@ namespace pcl
   class EuclideanClusterComparator<PointT, PointLT, deprecated::T>
     : public experimental::EuclideanClusterComparator<PointT, PointLT> {};
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/euclidean_plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/euclidean_plane_coefficient_comparator.h
index 849a2b840f5..4c8aa33d3d9 100644
--- a/segmentation/include/pcl/segmentation/euclidean_plane_coefficient_comparator.h
+++ b/segmentation/include/pcl/segmentation/euclidean_plane_coefficient_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
-#define PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #include <pcl/segmentation/plane_coefficient_comparator.h>
@@ -97,5 +96,3 @@ namespace pcl
       }
   };
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/extract_clusters.h b/segmentation/include/pcl/segmentation/extract_clusters.h
index 841c451d9a9..208550f4406 100644
--- a/segmentation/include/pcl/segmentation/extract_clusters.h
+++ b/segmentation/include/pcl/segmentation/extract_clusters.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_EXTRACT_CLUSTERS_H_
-#define PCL_EXTRACT_CLUSTERS_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 
@@ -424,5 +423,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/extract_clusters.hpp>
 #endif
-
-#endif  //#ifndef PCL_EXTRACT_CLUSTERS_H_
diff --git a/segmentation/include/pcl/segmentation/extract_labeled_clusters.h b/segmentation/include/pcl/segmentation/extract_labeled_clusters.h
index 648b5615262..586a507db3c 100644
--- a/segmentation/include/pcl/segmentation/extract_labeled_clusters.h
+++ b/segmentation/include/pcl/segmentation/extract_labeled_clusters.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
-#define PCL_EXTRACT_LABELED_CLUSTERS_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/pcl_search.h>
@@ -189,5 +188,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/extract_labeled_clusters.hpp>
 #endif
-
-#endif  //#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
diff --git a/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h b/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h
index d2b92fd72ac..8319cfc8060 100644
--- a/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h
+++ b/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
-#define PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
@@ -213,5 +212,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/extract_polygonal_prism_data.hpp>
 #endif
-
-#endif  //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
diff --git a/segmentation/include/pcl/segmentation/grabcut_segmentation.h b/segmentation/include/pcl/segmentation/grabcut_segmentation.h
index 7190a3bd8a1..6809fffd5b4 100644
--- a/segmentation/include/pcl/segmentation/grabcut_segmentation.h
+++ b/segmentation/include/pcl/segmentation/grabcut_segmentation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_GRABCUT
-#define PCL_SEGMENTATION_GRABCUT
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/pcl_base.h>
@@ -480,5 +479,3 @@ namespace pcl
 }
 
 #include <pcl/segmentation/impl/grabcut_segmentation.hpp>
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/ground_plane_comparator.h b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
index f96f38bfb52..5b0fd141c7c 100644
--- a/segmentation/include/pcl/segmentation/ground_plane_comparator.h
+++ b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_
-#define PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_
+#pragma once
 
 #include <pcl/common/angles.h>
 #include <pcl/segmentation/comparator.h>
@@ -246,5 +245,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif // PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/lccp_segmentation.h b/segmentation/include/pcl/segmentation/lccp_segmentation.h
index bcba027912f..8ef04c69931 100644
--- a/segmentation/include/pcl/segmentation/lccp_segmentation.h
+++ b/segmentation/include/pcl/segmentation/lccp_segmentation.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_LCCP_SEGMENTATION_H_
-#define PCL_SEGMENTATION_LCCP_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_types.h>
@@ -354,5 +353,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/lccp_segmentation.hpp>
 #endif
-
-#endif // PCL_SEGMENTATION_LCCP_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/min_cut_segmentation.h b/segmentation/include/pcl/segmentation/min_cut_segmentation.h
index 884180d94f0..3a266282fae 100644
--- a/segmentation/include/pcl/segmentation/min_cut_segmentation.h
+++ b/segmentation/include/pcl/segmentation/min_cut_segmentation.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_MIN_CUT_SEGMENTATION_H_
-#define PCL_MIN_CUT_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #if (BOOST_VERSION >= 104400)
@@ -327,4 +326,3 @@ namespace pcl
 #endif
 
 #endif
-#endif
diff --git a/segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h b/segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h
index d5ab2304be7..a25bbf9ec1e 100644
--- a/segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h
+++ b/segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
-#define PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/PointIndices.h>
@@ -151,5 +150,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp>
 #endif
-
-#endif //#ifndef PCL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
index f89805cfa17..8e29de7c6ea 100644
--- a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
+++ b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
-#define PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/segmentation/planar_region.h>
 #include <pcl/pcl_base.h>
@@ -320,5 +319,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/organized_multi_plane_segmentation.hpp>
 #endif
-
-#endif //#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/planar_polygon_fusion.h b/segmentation/include/pcl/segmentation/planar_polygon_fusion.h
index 82bf51a51dc..8f06e790eeb 100644
--- a/segmentation/include/pcl/segmentation/planar_polygon_fusion.h
+++ b/segmentation/include/pcl/segmentation/planar_polygon_fusion.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
-#define PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
+#pragma once
 
 #include <Eigen/Core>
 #include <vector>
@@ -86,5 +85,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/planar_polygon_fusion.hpp>
 #endif
-
-#endif // PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
diff --git a/segmentation/include/pcl/segmentation/planar_region.h b/segmentation/include/pcl/segmentation/planar_region.h
index d0b330009fc..3a809700335 100644
--- a/segmentation/include/pcl/segmentation/planar_region.h
+++ b/segmentation/include/pcl/segmentation/planar_region.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_PLANAR_REGION_H_
-#define PCL_SEGMENTATION_PLANAR_REGION_H_
+#pragma once
 
 #include <pcl/segmentation/region_3d.h>
 #include <pcl/geometry/planar_polygon.h>
@@ -107,5 +106,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif //PCL_SEGMENTATION_PLANAR_REGION_H_
diff --git a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
index a21725a40cb..6be6a1dbe2d 100644
--- a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
+++ b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
-#define PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
+#pragma once
 
 #include <pcl/common/angles.h>
 #include <pcl/segmentation/boost.h>
@@ -211,5 +210,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/plane_refinement_comparator.h b/segmentation/include/pcl/segmentation/plane_refinement_comparator.h
index ded8c76fb11..def8b41ca88 100644
--- a/segmentation/include/pcl/segmentation/plane_refinement_comparator.h
+++ b/segmentation/include/pcl/segmentation/plane_refinement_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_
-#define PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #include <pcl/segmentation/plane_coefficient_comparator.h>
@@ -219,5 +218,3 @@ namespace pcl
       using PlaneCoefficientComparator<PointT, PointNT>::z_axis_;
   };
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/progressive_morphological_filter.h b/segmentation/include/pcl/segmentation/progressive_morphological_filter.h
index 5935e8a755e..60433ce9f5a 100644
--- a/segmentation/include/pcl/segmentation/progressive_morphological_filter.h
+++ b/segmentation/include/pcl/segmentation/progressive_morphological_filter.h
@@ -36,8 +36,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PCL_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
-#define PCL_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/search.h>
@@ -164,6 +163,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/progressive_morphological_filter.hpp>
 #endif
-
-#endif
-
diff --git a/segmentation/include/pcl/segmentation/random_walker.h b/segmentation/include/pcl/segmentation/random_walker.h
index af75d48de31..bd05f61accc 100644
--- a/segmentation/include/pcl/segmentation/random_walker.h
+++ b/segmentation/include/pcl/segmentation/random_walker.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_RANDOM_WALKER_H
-#define PCL_SEGMENTATION_RANDOM_WALKER_H
+#pragma once
 
 #include <boost/graph/adjacency_list.hpp>
 #include <boost/graph/graph_concepts.hpp>
@@ -139,6 +138,3 @@ namespace pcl
 }
 
 #include <pcl/segmentation/impl/random_walker.hpp>
-
-#endif /* PCL_SEGMENTATION_RANDOM_WALKER_H */
-
diff --git a/segmentation/include/pcl/segmentation/region_3d.h b/segmentation/include/pcl/segmentation/region_3d.h
index 52df2e3e424..45116180a08 100644
--- a/segmentation/include/pcl/segmentation/region_3d.h
+++ b/segmentation/include/pcl/segmentation/region_3d.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_REGION_3D_H_
-#define PCL_SEGMENTATION_REGION_3D_H_
+#pragma once
 
 #include <Eigen/Core>
 #include <vector>
@@ -120,5 +119,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif //#ifndef  PCL_SEGMENTATION_REGION_3D_H_
diff --git a/segmentation/include/pcl/segmentation/region_growing.h b/segmentation/include/pcl/segmentation/region_growing.h
index 7a5afff88fb..b7eaa1e52a4 100644
--- a/segmentation/include/pcl/segmentation/region_growing.h
+++ b/segmentation/include/pcl/segmentation/region_growing.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGION_GROWING_H_
-#define PCL_REGION_GROWING_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/search.h>
@@ -347,5 +346,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/region_growing.hpp>
 #endif
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/region_growing_rgb.h b/segmentation/include/pcl/segmentation/region_growing_rgb.h
index e4cee106b91..11b206b4879 100644
--- a/segmentation/include/pcl/segmentation/region_growing_rgb.h
+++ b/segmentation/include/pcl/segmentation/region_growing_rgb.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_REGION_GROWING_RGB_H_
-#define PCL_REGION_GROWING_RGB_H_
+#pragma once
 
 #include <pcl/segmentation/region_growing.h>
 
@@ -281,5 +280,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/region_growing_rgb.hpp>
 #endif
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/rgb_plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/rgb_plane_coefficient_comparator.h
index 443a9e0ecc9..4a369f65849 100644
--- a/segmentation/include/pcl/segmentation/rgb_plane_coefficient_comparator.h
+++ b/segmentation/include/pcl/segmentation/rgb_plane_coefficient_comparator.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
-#define PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
+#pragma once
 
 #include <pcl/segmentation/boost.h>
 #include <pcl/segmentation/plane_coefficient_comparator.h>
@@ -131,5 +130,3 @@ namespace pcl
       float color_threshold_;
   };
 }
-
-#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
diff --git a/segmentation/include/pcl/segmentation/sac_segmentation.h b/segmentation/include/pcl/segmentation/sac_segmentation.h
index c5e28e9bfd1..e260b99b714 100644
--- a/segmentation/include/pcl/segmentation/sac_segmentation.h
+++ b/segmentation/include/pcl/segmentation/sac_segmentation.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_SAC_SEGMENTATION_H_
-#define PCL_SEGMENTATION_SAC_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/PointIndices.h>
@@ -429,5 +428,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/sac_segmentation.hpp>
 #endif
-
-#endif  //#ifndef PCL_SEGMENTATION_SAC_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/seeded_hue_segmentation.h b/segmentation/include/pcl/segmentation/seeded_hue_segmentation.h
index 23627c0e1cc..e25344a0ed0 100644
--- a/segmentation/include/pcl/segmentation/seeded_hue_segmentation.h
+++ b/segmentation/include/pcl/segmentation/seeded_hue_segmentation.h
@@ -36,8 +36,7 @@
  * $id: $
  */
 
-#ifndef PCL_SEEDED_HUE_SEGMENTATION_H_
-#define PCL_SEEDED_HUE_SEGMENTATION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_types_conversion.h>
@@ -172,5 +171,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/seeded_hue_segmentation.hpp>
 #endif
-
-#endif  //#ifndef PCL_SEEDED_HUE_SEGMENTATION_H_
diff --git a/segmentation/include/pcl/segmentation/segment_differences.h b/segmentation/include/pcl/segmentation/segment_differences.h
index cd1b95e359d..33351842457 100755
--- a/segmentation/include/pcl/segmentation/segment_differences.h
+++ b/segmentation/include/pcl/segmentation/segment_differences.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SEGMENT_DIFFERENCES_H_
-#define PCL_SEGMENT_DIFFERENCES_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/pcl_search.h>
@@ -170,5 +169,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/segment_differences.hpp>
 #endif
-
-#endif  //#ifndef PCL_SEGMENT_DIFFERENCES_H_
diff --git a/segmentation/include/pcl/segmentation/supervoxel_clustering.h b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
index 05e6002752c..eea81ef43fe 100644
--- a/segmentation/include/pcl/segmentation/supervoxel_clustering.h
+++ b/segmentation/include/pcl/segmentation/supervoxel_clustering.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_H_
-#define PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_H_
+#pragma once
 
 #include <pcl/features/normal_3d.h>
 #include <pcl/pcl_base.h>
@@ -542,5 +541,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/supervoxel_clustering.hpp>
 #endif
-
-#endif
diff --git a/segmentation/include/pcl/segmentation/unary_classifier.h b/segmentation/include/pcl/segmentation/unary_classifier.h
index 163244a52b4..800dc3302a0 100644
--- a/segmentation/include/pcl/segmentation/unary_classifier.h
+++ b/segmentation/include/pcl/segmentation/unary_classifier.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_UNARY_CLASSIFIER_H_
-#define PCL_UNARY_CLASSIFIER_H_
+#pragma once
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -175,5 +174,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/segmentation/impl/unary_classifier.hpp>
 #endif
-
-#endif
diff --git a/simulation/include/pcl/simulation/camera.h b/simulation/include/pcl/simulation/camera.h
index e94af9a596b..764eb66dbad 100644
--- a/simulation/include/pcl/simulation/camera.h
+++ b/simulation/include/pcl/simulation/camera.h
@@ -1,5 +1,4 @@
-#ifndef PCL_SIMULATION_CAMERA_HPP_
-#define PCL_SIMULATION_CAMERA_HPP_
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 #include <Eigen/Dense>
@@ -118,5 +117,3 @@ namespace pcl
     };
   } // namespace - simulation
 } // namespace - pcl
-
-#endif /* PCL_SIMULATION_CAMERA_HPP_ */
diff --git a/simulation/include/pcl/simulation/glsl_shader.h b/simulation/include/pcl/simulation/glsl_shader.h
index fef5a6b8ea5..f22cbbbf7e2 100644
--- a/simulation/include/pcl/simulation/glsl_shader.h
+++ b/simulation/include/pcl/simulation/glsl_shader.h
@@ -5,8 +5,7 @@
  *      Author: Hordur Johannsson
  */
 
-#ifndef PCL_SIMULATION_GLSL_SHADER
-#define PCL_SIMULATION_GLSL_SHADER
+#pragma once
 
 #include <pcl/pcl_exports.h>
 
@@ -102,5 +101,3 @@ namespace pcl
     } // namespace - gllib
   } // namespace - simulation
 } // namespace - pcl
-
-#endif /* PCL_SIMULATION_GLSL_SHADER_HPP_ */
diff --git a/simulation/include/pcl/simulation/model.h b/simulation/include/pcl/simulation/model.h
index 2a6b5d4b4e5..1a643d590c9 100644
--- a/simulation/include/pcl/simulation/model.h
+++ b/simulation/include/pcl/simulation/model.h
@@ -1,5 +1,4 @@
-#ifndef PCL_MODEL_HPP_
-#define PCL_MODEL_HPP_
+#pragma once
 
 #if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__)
 # define WIN32_LEAN_AND_MEAN 1
@@ -207,5 +206,3 @@ namespace pcl
     };
   } // namespace - simulation
 } // namespace - pcl
-
-#endif /* PCL_SIMULATION_MODEL_HPP_ */
diff --git a/simulation/include/pcl/simulation/range_likelihood.h b/simulation/include/pcl/simulation/range_likelihood.h
index 39334f9030c..3ab4f702484 100644
--- a/simulation/include/pcl/simulation/range_likelihood.h
+++ b/simulation/include/pcl/simulation/range_likelihood.h
@@ -1,5 +1,4 @@
-#ifndef PCL_RANGE_LIKELIHOOD
-#define PCL_RANGE_LIKELIHOOD
+#pragma once
 
 #include <GL/glew.h>
 
@@ -269,5 +268,3 @@ namespace pcl
   } // namespace - simulation
 
 } // namespace - pcl
-
-#endif
diff --git a/simulation/include/pcl/simulation/scene.h b/simulation/include/pcl/simulation/scene.h
index 7d66acb6d63..c0f0308a9f9 100644
--- a/simulation/include/pcl/simulation/scene.h
+++ b/simulation/include/pcl/simulation/scene.h
@@ -5,8 +5,7 @@
  *      Author: Hordur Johannsson
  */
 
-#ifndef PCL_SIMULATION_SCENE_HPP_
-#define PCL_SIMULATION_SCENE_HPP_
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -44,5 +43,3 @@ namespace pcl
   
   } // namespace - simulation
 } // namespace - pcl
-
-#endif
diff --git a/simulation/include/pcl/simulation/sum_reduce.h b/simulation/include/pcl/simulation/sum_reduce.h
index bf53ac395a1..3864b980b43 100644
--- a/simulation/include/pcl/simulation/sum_reduce.h
+++ b/simulation/include/pcl/simulation/sum_reduce.h
@@ -5,8 +5,7 @@
  *
  */
 
-#ifndef PCL_SIMULATION_SUM_REDUCE
-#define PCL_SIMULATION_SUM_REDUCE
+#pragma once
 
 #include <GL/glew.h>
 
@@ -62,5 +61,3 @@ namespace pcl
     };
   } // namespace - simulation
 } // namespace - pcl
-
-#endif /* PCL_SIMULATION_SUM_REDUCE */
diff --git a/stereo/include/pcl/stereo/digital_elevation_map.h b/stereo/include/pcl/stereo/digital_elevation_map.h
index 8cd847687cf..f7ba36f734f 100644
--- a/stereo/include/pcl/stereo/digital_elevation_map.h
+++ b/stereo/include/pcl/stereo/digital_elevation_map.h
@@ -33,8 +33,8 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#ifndef PCL_DIGITAL_ELEVATION_MAP_H_
-#define PCL_DIGITAL_ELEVATION_MAP_H_
+
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/stereo/disparity_map_converter.h>
@@ -136,5 +136,3 @@ namespace pcl
       size_t min_points_in_cell_;
   };
 }
-
-#endif // PCL_DIGITAL_ELEVATION_MAP_H_
diff --git a/stereo/include/pcl/stereo/disparity_map_converter.h b/stereo/include/pcl/stereo/disparity_map_converter.h
index cf968ea7f76..7dcdae3d83a 100644
--- a/stereo/include/pcl/stereo/disparity_map_converter.h
+++ b/stereo/include/pcl/stereo/disparity_map_converter.h
@@ -33,8 +33,8 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#ifndef PCL_DISPARITY_MAP_CONVERTER_H_
-#define PCL_DISPARITY_MAP_CONVERTER_H_
+
+#pragma once
 
 #include <cstring>
 #include <vector>
@@ -252,5 +252,3 @@ namespace pcl
 }
 
 #include <pcl/stereo/impl/disparity_map_converter.hpp>
-
-#endif // PCL_DISPARITY_MAP_CONVERTER_H_
\ No newline at end of file
diff --git a/stereo/include/pcl/stereo/stereo_grabber.h b/stereo/include/pcl/stereo/stereo_grabber.h
index db753e767a5..ac32ac4286b 100644
--- a/stereo/include/pcl/stereo/stereo_grabber.h
+++ b/stereo/include/pcl/stereo/stereo_grabber.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_STEREO_STEREO_GRABER_H_
-#define PCL_STEREO_STEREO_GRABER_H_
+#pragma once
 
 #include <pcl/io/grabber.h>
 #include <pcl/common/time_trigger.h>
@@ -171,4 +170,3 @@ namespace pcl
     signal_->operator () (cloud);
   }
 }
-#endif
diff --git a/stereo/include/pcl/stereo/stereo_matching.h b/stereo/include/pcl/stereo/stereo_matching.h
index 0c6d3d0a6a7..63b99b370a1 100644
--- a/stereo/include/pcl/stereo/stereo_matching.h
+++ b/stereo/include/pcl/stereo/stereo_matching.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_STEREO_H_
-#define PCL_STEREO_H_
+
+#pragma once
 
 #include <pcl/conversions.h>
 #include <pcl/point_types.h>
@@ -509,5 +509,3 @@ namespace pcl
       int smoothness_weak_;
   };
 }
-
-#endif
diff --git a/surface/include/pcl/surface/bilateral_upsampling.h b/surface/include/pcl/surface/bilateral_upsampling.h
index 98e4e0bd1e1..6360f3ac609 100644
--- a/surface/include/pcl/surface/bilateral_upsampling.h
+++ b/surface/include/pcl/surface/bilateral_upsampling.h
@@ -37,9 +37,7 @@
  *
  */
 
-
-#ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_
-#define PCL_SURFACE_BILATERAL_UPSAMPLING_H_
+#pragma once
 
 #include <pcl/surface/processing.h>
 
@@ -160,5 +158,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif /* PCL_SURFACE_BILATERAL_UPSAMPLING_H_ */
diff --git a/surface/include/pcl/surface/boost.h b/surface/include/pcl/surface/boost.h
index b8e4b66f6e7..e89e35e541f 100644
--- a/surface/include/pcl/surface/boost.h
+++ b/surface/include/pcl/surface/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_BOOST_H_
-#define PCL_SURFACE_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -50,5 +49,3 @@
 #include <boost/unordered_map.hpp>
 #include <boost/dynamic_bitset/dynamic_bitset.hpp>
 #include <boost/shared_ptr.hpp>
-
-#endif    // PCL_SURFACE_BOOST_H_
diff --git a/surface/include/pcl/surface/concave_hull.h b/surface/include/pcl/surface/concave_hull.h
index 85b296b0c7e..bd40ccaa1dd 100644
--- a/surface/include/pcl/surface/concave_hull.h
+++ b/surface/include/pcl/surface/concave_hull.h
@@ -36,13 +36,12 @@
  * $Id$
  *
  */
+ 
+#pragma once
 
-#include <pcl/pcl_config.h>
 #ifdef HAVE_QHULL
 
-#ifndef PCL_CONCAVE_HULL_H
-#define PCL_CONCAVE_HULL_H
-
+#include <pcl/pcl_config.h>
 #include <pcl/surface/convex_hull.h>
 
 namespace pcl
@@ -212,5 +211,4 @@ namespace pcl
 #include <pcl/surface/impl/concave_hull.hpp>
 #endif
 
-#endif  //#ifndef PCL_CONCAVE_HULL
 #endif
diff --git a/surface/include/pcl/surface/convex_hull.h b/surface/include/pcl/surface/convex_hull.h
index 03ba9db69ea..c77ce8468bb 100644
--- a/surface/include/pcl/surface/convex_hull.h
+++ b/surface/include/pcl/surface/convex_hull.h
@@ -37,13 +37,12 @@
  *
  */
 
-#include <pcl/pcl_config.h>
-#ifdef HAVE_QHULL
+#pragma once
 
-#ifndef PCL_CONVEX_HULL_2D_H_
-#define PCL_CONVEX_HULL_2D_H_
+#ifdef HAVE_QHULL 
 
 // PCL includes
+#include <pcl/pcl_config.h>
 #include <pcl/surface/reconstruction.h>
 #include <pcl/ModelCoefficients.h>
 #include <pcl/PolygonMesh.h>
@@ -275,5 +274,4 @@ namespace pcl
 #include <pcl/surface/impl/convex_hull.hpp>
 #endif
 
-#endif  //#ifndef PCL_CONVEX_HULL_2D_H_
 #endif
diff --git a/surface/include/pcl/surface/ear_clipping.h b/surface/include/pcl/surface/ear_clipping.h
index 870608edc6c..05ce38f6580 100644
--- a/surface/include/pcl/surface/ear_clipping.h
+++ b/surface/include/pcl/surface/ear_clipping.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_EAR_CLIPPING_H_
-#define PCL_SURFACE_EAR_CLIPPING_H_
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/surface/processing.h>
@@ -124,5 +123,3 @@ namespace pcl
   };
 
 }
-
-#endif  // #ifndef PCL_SURFACE_EAR_CLIPPING_H_
diff --git a/surface/include/pcl/surface/eigen.h b/surface/include/pcl/surface/eigen.h
index 91f925e3a15..c1cad11d4ec 100644
--- a/surface/include/pcl/surface/eigen.h
+++ b/surface/include/pcl/surface/eigen.h
@@ -37,13 +37,10 @@
  *
  */
 
-#ifndef PCL_SURFACE_EIGEN_H_
-#define PCL_SURFACE_EIGEN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
 #endif
 
 #include <Eigen/SVD>
-
-#endif    // PCL_SURFACE_EIGEN_H_
diff --git a/surface/include/pcl/surface/gp3.h b/surface/include/pcl/surface/gp3.h
index 192254aa310..4ff6aaea7d5 100644
--- a/surface/include/pcl/surface/gp3.h
+++ b/surface/include/pcl/surface/gp3.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_GP3_H_
-#define PCL_GP3_H_
+#pragma once
 
 // PCL includes
 #include <pcl/surface/reconstruction.h>
@@ -543,6 +542,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/gp3.hpp>
 #endif
-
-#endif  //#ifndef PCL_GP3_H_
-
diff --git a/surface/include/pcl/surface/grid_projection.h b/surface/include/pcl/surface/grid_projection.h
index 48807e9d7cc..ac593609bef 100644
--- a/surface/include/pcl/surface/grid_projection.h
+++ b/surface/include/pcl/surface/grid_projection.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_GRID_PROJECTION_H_
-#define PCL_SURFACE_GRID_PROJECTION_H_
+#pragma once
 
 #include <pcl/surface/boost.h>
 #include <pcl/surface/reconstruction.h>
@@ -501,6 +500,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif  // PCL_SURFACE_GRID_PROJECTION_H_
- 
diff --git a/surface/include/pcl/surface/marching_cubes.h b/surface/include/pcl/surface/marching_cubes.h
index d20f5c97684..3b9f128fc86 100644
--- a/surface/include/pcl/surface/marching_cubes.h
+++ b/surface/include/pcl/surface/marching_cubes.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_MARCHING_CUBES_H_
-#define PCL_SURFACE_MARCHING_CUBES_H_
+#pragma once
 
 #include <pcl/surface/boost.h>
 #include <pcl/surface/reconstruction.h>
@@ -525,6 +524,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/marching_cubes.hpp>
 #endif
-
-#endif  // PCL_SURFACE_MARCHING_CUBES_H_
-
diff --git a/surface/include/pcl/surface/marching_cubes_hoppe.h b/surface/include/pcl/surface/marching_cubes_hoppe.h
index 6f14d139ce3..876f6717c10 100644
--- a/surface/include/pcl/surface/marching_cubes_hoppe.h
+++ b/surface/include/pcl/surface/marching_cubes_hoppe.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_MARCHING_CUBES_HOPPE_H_
-#define PCL_SURFACE_MARCHING_CUBES_HOPPE_H_
+#pragma once
 
 #include <pcl/surface/boost.h>
 #include <pcl/surface/marching_cubes.h>
@@ -118,6 +117,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/marching_cubes_hoppe.hpp>
 #endif
-
-#endif  // PCL_SURFACE_MARCHING_CUBES_HOPPE_H_
-
diff --git a/surface/include/pcl/surface/marching_cubes_rbf.h b/surface/include/pcl/surface/marching_cubes_rbf.h
index a0a49a8aa0c..520941cce7b 100644
--- a/surface/include/pcl/surface/marching_cubes_rbf.h
+++ b/surface/include/pcl/surface/marching_cubes_rbf.h
@@ -33,8 +33,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_
-#define PCL_SURFACE_MARCHING_CUBES_RBF_H_
+#pragma once
 
 #include <pcl/surface/boost.h>
 #include <pcl/surface/marching_cubes.h>
@@ -120,6 +119,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/marching_cubes_rbf.hpp>
 #endif
-
-#endif  // PCL_SURFACE_MARCHING_CUBES_RBF_H_
-
diff --git a/surface/include/pcl/surface/mls.h b/surface/include/pcl/surface/mls.h
index 2e14f2bad33..6c8f84c08ab 100644
--- a/surface/include/pcl/surface/mls.h
+++ b/surface/include/pcl/surface/mls.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_MLS_H_
-#define PCL_MLS_H_
+#pragma once
 
 // PCL includes
 #include <pcl/pcl_base.h>
@@ -770,5 +769,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/mls.hpp>
 #endif
-
-#endif  /* #ifndef PCL_MLS_H_ */
diff --git a/surface/include/pcl/surface/organized_fast_mesh.h b/surface/include/pcl/surface/organized_fast_mesh.h
index 54bbd3ddd32..f90c9a6749d 100644
--- a/surface/include/pcl/surface/organized_fast_mesh.h
+++ b/surface/include/pcl/surface/organized_fast_mesh.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_ORGANIZED_FAST_MESH_H_
-#define PCL_SURFACE_ORGANIZED_FAST_MESH_H_
+#pragma once
 
 #include <pcl/common/angles.h>
 #include <pcl/surface/reconstruction.h>
@@ -488,5 +487,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/organized_fast_mesh.hpp>
 #endif
-
-#endif  // PCL_SURFACE_ORGANIZED_FAST_MESH_H_
diff --git a/surface/include/pcl/surface/poisson.h b/surface/include/pcl/surface/poisson.h
index c090e980947..fa731b651f6 100644
--- a/surface/include/pcl/surface/poisson.h
+++ b/surface/include/pcl/surface/poisson.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_POISSON_H_
-#define PCL_SURFACE_POISSON_H_
+#pragma once
 
 #include <pcl/surface/reconstruction.h>
 
@@ -256,5 +255,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/poisson.hpp>
 #endif
-
-#endif  // PCL_SURFACE_POISSON_H_
diff --git a/surface/include/pcl/surface/processing.h b/surface/include/pcl/surface/processing.h
index bc4396c6278..6ddf54018bd 100644
--- a/surface/include/pcl/surface/processing.h
+++ b/surface/include/pcl/surface/processing.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_MESH_PROCESSING_H_
-#define PCL_MESH_PROCESSING_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/point_cloud.h>
@@ -149,6 +148,3 @@ namespace pcl
 }
 
 #include "pcl/surface/impl/processing.hpp"
-
-#endif  /* PCL_MESH_PROCESSING_H_ */
-
diff --git a/surface/include/pcl/surface/qhull.h b/surface/include/pcl/surface/qhull.h
index ac738991e71..93876a2471a 100644
--- a/surface/include/pcl/surface/qhull.h
+++ b/surface/include/pcl/surface/qhull.h
@@ -37,11 +37,11 @@
  *
  */
 
-#include <pcl/pcl_config.h>
+#pragma once
+
 #ifdef HAVE_QHULL
 
-#ifndef PCL_QHULL_H
-#define PCL_QHULL_H
+#include <pcl/pcl_config.h>
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -70,6 +70,4 @@ extern "C"
 #endif
 }
 
-#endif      // PCL_QHULL_H
 #endif
-
diff --git a/surface/include/pcl/surface/reconstruction.h b/surface/include/pcl/surface/reconstruction.h
index 13a9bb38404..1bfcea711c9 100644
--- a/surface/include/pcl/surface/reconstruction.h
+++ b/surface/include/pcl/surface/reconstruction.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_RECONSTRUCTION_H_
-#define PCL_SURFACE_RECONSTRUCTION_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/PolygonMesh.h>
@@ -244,6 +243,3 @@ namespace pcl
 }
 
 #include <pcl/surface/impl/reconstruction.hpp>
-
-#endif  // PCL_SURFACE_RECONSTRUCTION_H_
-
diff --git a/surface/include/pcl/surface/simplification_remove_unused_vertices.h b/surface/include/pcl/surface/simplification_remove_unused_vertices.h
index 33a50e3ac78..5da9da7450c 100644
--- a/surface/include/pcl/surface/simplification_remove_unused_vertices.h
+++ b/surface/include/pcl/surface/simplification_remove_unused_vertices.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_SIMPLIFICATION_REMOVE_UNUSED_VERTICES_H_
-#define PCL_SURFACE_SIMPLIFICATION_REMOVE_UNUSED_VERTICES_H_
+#pragma once
 
 #include <pcl/surface/boost.h>
 #include <pcl/PolygonMesh.h>
@@ -79,5 +78,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* PCL_SURFACE_SIMPLIFICATION_REMOVE_UNUSED_VERTICES_H_ */
diff --git a/surface/include/pcl/surface/surfel_smoothing.h b/surface/include/pcl/surface/surfel_smoothing.h
index a22c4af19f1..4bac249c0f7 100644
--- a/surface/include/pcl/surface/surfel_smoothing.h
+++ b/surface/include/pcl/surface/surfel_smoothing.h
@@ -35,8 +35,7 @@
  * $Id$
  */
 
-#ifndef PCL_SURFEL_SMOOTHING_H_
-#define PCL_SURFEL_SMOOTHING_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 #include <pcl/search/pcl_search.h>
@@ -114,5 +113,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/surface/impl/surfel_smoothing.hpp>
 #endif
-
-#endif    // PCL_SURFEL_SMOOTHING_H_
diff --git a/surface/include/pcl/surface/texture_mapping.h b/surface/include/pcl/surface/texture_mapping.h
index 692536955d8..26bbb112918 100644
--- a/surface/include/pcl/surface/texture_mapping.h
+++ b/surface/include/pcl/surface/texture_mapping.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_SURFACE_TEXTURE_MAPPING_H_
-#define PCL_SURFACE_TEXTURE_MAPPING_H_
+#pragma once
 
 #include <pcl/surface/reconstruction.h>
 #include <pcl/common/transforms.h>
@@ -422,6 +421,3 @@ namespace pcl
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
-
-#endif /* TEXTURE_MAPPING_H_ */
-
diff --git a/surface/include/pcl/surface/vtk_smoothing/vtk.h b/surface/include/pcl/surface/vtk_smoothing/vtk.h
index 2721e373dd4..a86f10cfb85 100644
--- a/surface/include/pcl/surface/vtk_smoothing/vtk.h
+++ b/surface/include/pcl/surface/vtk_smoothing/vtk.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_SURFACE_VTK_H_
-#define PCL_SURFACE_VTK_H_
+
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -45,6 +45,3 @@
 
 #include <vtkPolyData.h>
 #include <vtkSmartPointer.h>
-
-#endif    // PCL_SURFACE_VTK_H_
-
diff --git a/test/common/boost.h b/test/common/boost.h
index 547eac871cc..fff0c860769 100644
--- a/test/common/boost.h
+++ b/test/common/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_TEST_COMMON_BOOST_H_
-#define PCL_TEST_COMMON_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -48,5 +47,3 @@
 // Marking all Boost headers as system headers to remove warnings
 #include <boost/random.hpp>
 #include <boost/random/variate_generator.hpp>
-
-#endif    // PCL_TEST_COMMON_BOOST_H_
diff --git a/test/geometry/test_mesh_common_functions.h b/test/geometry/test_mesh_common_functions.h
index 561bf738714..fec5f375390 100644
--- a/test/geometry/test_mesh_common_functions.h
+++ b/test/geometry/test_mesh_common_functions.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_TEST_GEOMETRY_TEST_MESH_COMMON_FUNCTIONS_H
-#define PCL_TEST_GEOMETRY_TEST_MESH_COMMON_FUNCTIONS_H
+#pragma once
 
 #include <iostream>
 #include <vector>
@@ -371,5 +370,3 @@ checkHalfEdge (const MeshT&                        mesh,
 }
 
 ////////////////////////////////////////////////////////////////////////////////
-
-#endif // PCL_TEST_GEOMETRY_TEST_MESH_COMMON_FUNCTIONS_H
diff --git a/tools/boost.h b/tools/boost.h
index f1b44dca3aa..6b382b520d9 100644
--- a/tools/boost.h
+++ b/tools/boost.h
@@ -38,8 +38,7 @@
  *
  */
 
-#ifndef PCL_TOOLS_BOOST_H_
-#define PCL_TOOLS_BOOST_H_
+#pragma once
 
 #ifdef __GNUC__
 #pragma GCC system_header 
@@ -59,5 +58,3 @@
 //#include <boost/uuid/uuid.hpp>
 //#include <boost/uuid/uuid_generators.hpp>
 #endif
-
-#endif    // PCL_TOOLS_BOOST_H_
diff --git a/tracking/include/pcl/tracking/approx_nearest_pair_point_cloud_coherence.h b/tracking/include/pcl/tracking/approx_nearest_pair_point_cloud_coherence.h
index 114d87dd878..b92de748495 100644
--- a/tracking/include/pcl/tracking/approx_nearest_pair_point_cloud_coherence.h
+++ b/tracking/include/pcl/tracking/approx_nearest_pair_point_cloud_coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
-#define PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
+#pragma once
 
 #include <pcl/search/search.h>
 #include <pcl/search/octree.h>
@@ -50,6 +49,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
 #endif
-
-#endif
-
diff --git a/tracking/include/pcl/tracking/boost.h b/tracking/include/pcl/tracking/boost.h
index 24f3bb6b803..4afdf893184 100644
--- a/tracking/include/pcl/tracking/boost.h
+++ b/tracking/include/pcl/tracking/boost.h
@@ -37,13 +37,10 @@
  *
  */
 
-#ifndef PCL_TRACKING_BOOST_H_
-#define PCL_TRACKING_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
 #endif
 
 #include <boost/random.hpp>
-
-#endif    // PCL_TRACKING_BOOST_H_
diff --git a/tracking/include/pcl/tracking/coherence.h b/tracking/include/pcl/tracking/coherence.h
index e56ee3e21cf..cda4e1ebb1a 100644
--- a/tracking/include/pcl/tracking/coherence.h
+++ b/tracking/include/pcl/tracking/coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_COHERENCE_H_
-#define PCL_TRACKING_COHERENCE_H_
+#pragma once
 
 #include <pcl/pcl_base.h>
 
@@ -129,8 +128,4 @@ namespace pcl
   }
 }
 
-
 #include <pcl/tracking/impl/coherence.hpp>
-
-
-#endif
diff --git a/tracking/include/pcl/tracking/distance_coherence.h b/tracking/include/pcl/tracking/distance_coherence.h
index 9c7415a0645..c1efdd95eec 100644
--- a/tracking/include/pcl/tracking/distance_coherence.h
+++ b/tracking/include/pcl/tracking/distance_coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_DISTANCE_COHERENCE_H_
-#define PCL_TRACKING_DISTANCE_COHERENCE_H_
+#pragma once
 
 #include <pcl/tracking/coherence.h>
 
@@ -48,7 +47,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/distance_coherence.hpp>
 #endif
-
-// #include <pcl/tracking/impl/distance_coherence.hpp>
-
-#endif
diff --git a/tracking/include/pcl/tracking/hsv_color_coherence.h b/tracking/include/pcl/tracking/hsv_color_coherence.h
index 1fb5092c30a..fb5de20582f 100644
--- a/tracking/include/pcl/tracking/hsv_color_coherence.h
+++ b/tracking/include/pcl/tracking/hsv_color_coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_HSV_COLOR_COHERENCE_H_
-#define PCL_TRACKING_HSV_COLOR_COHERENCE_H_
+#pragma once
 
 #include <pcl/tracking/coherence.h>
 
@@ -95,10 +94,6 @@ namespace pcl
   }
 }
 
-// #include <pcl/tracking/impl/hsv_color_coherence.hpp>
-
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/hsv_color_coherence.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h b/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h
index 009013f752c..5dcb2d6a441 100644
--- a/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h
+++ b/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_H_
-#define PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_H_
+#pragma once
 
 #include <pcl/tracking/tracking.h>
 #include <pcl/tracking/particle_filter.h>
@@ -214,5 +213,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/kld_adaptive_particle_filter.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h b/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h
index 45b8e24acc0..7113f935f5b 100644
--- a/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h
+++ b/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_OMP_H_
-#define PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_OMP_H_
+#pragma once
 
 #include <pcl/tracking/tracking.h>
 #include <pcl/tracking/kld_adaptive_particle_filter.h>
@@ -97,5 +96,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
index d2070f0549e..4b919b7a0e7 100644
--- a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
+++ b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
-#define PCL_TRACKING_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
+#pragma once
 
 #include <pcl/search/search.h>
 
@@ -96,5 +95,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/normal_coherence.h b/tracking/include/pcl/tracking/normal_coherence.h
index f693347199a..a8c9d2e50ed 100644
--- a/tracking/include/pcl/tracking/normal_coherence.h
+++ b/tracking/include/pcl/tracking/normal_coherence.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_NORMAL_COHERENCE_H_
-#define PCL_TRACKING_NORMAL_COHERENCE_H_
+#pragma once
 
 #include <pcl/tracking/coherence.h>
 namespace pcl
@@ -49,5 +48,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/normal_coherence.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/particle_filter.h b/tracking/include/pcl/tracking/particle_filter.h
index 8a9d3382959..64bafcff04e 100644
--- a/tracking/include/pcl/tracking/particle_filter.h
+++ b/tracking/include/pcl/tracking/particle_filter.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_PARTICLE_FILTER_H_
-#define PCL_TRACKING_PARTICLE_FILTER_H_
+#pragma once
 
 #include <pcl/tracking/tracking.h>
 #include <pcl/tracking/tracker.h>
@@ -507,5 +506,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/particle_filter.hpp>
 #endif
-
-#endif //PCL_TRACKING_PARTICLE_FILTER_H_
diff --git a/tracking/include/pcl/tracking/particle_filter_omp.h b/tracking/include/pcl/tracking/particle_filter_omp.h
index 4f52c6b74e0..e14b4f9642b 100644
--- a/tracking/include/pcl/tracking/particle_filter_omp.h
+++ b/tracking/include/pcl/tracking/particle_filter_omp.h
@@ -1,5 +1,4 @@
-#ifndef PCL_TRACKING_PARTICLE_FILTER_OMP_H_
-#define PCL_TRACKING_PARTICLE_FILTER_OMP_H_
+#pragma once
 
 #include <pcl/tracking/tracking.h>
 #include <pcl/tracking/particle_filter.h>
@@ -93,5 +92,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/particle_filter_omp.hpp>
 #endif
-
-#endif
diff --git a/tracking/include/pcl/tracking/pyramidal_klt.h b/tracking/include/pcl/tracking/pyramidal_klt.h
index 7eadd10d7f2..06b6475da91 100644
--- a/tracking/include/pcl/tracking/pyramidal_klt.h
+++ b/tracking/include/pcl/tracking/pyramidal_klt.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_TRACKING_PYRAMIDAL_KLT_H
-#define PCL_TRACKING_PYRAMIDAL_KLT_H
+#pragma once
 
 #include <pcl/point_types.h>
 #include <pcl/tracking/tracker.h>
@@ -374,4 +373,3 @@ namespace pcl
 }
 
 #include <pcl/tracking/impl/pyramidal_klt.hpp>
-#endif
diff --git a/tracking/include/pcl/tracking/tracker.h b/tracking/include/pcl/tracking/tracker.h
index 10ee2458d1d..b2467244dad 100644
--- a/tracking/include/pcl/tracking/tracker.h
+++ b/tracking/include/pcl/tracking/tracker.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_TRACKING_TRACKER_H_
-#define PCL_TRACKING_TRACKER_H_
+#pragma once
 
 #include <pcl/tracking/tracking.h>
 #include <pcl/pcl_base.h>
@@ -132,5 +131,3 @@ namespace pcl
 }
 
 #include <pcl/tracking/impl/tracker.hpp>
-
-#endif
diff --git a/tracking/include/pcl/tracking/tracking.h b/tracking/include/pcl/tracking/tracking.h
index 08f0aaf23af..110e14e686c 100644
--- a/tracking/include/pcl/tracking/tracking.h
+++ b/tracking/include/pcl/tracking/tracking.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_TRACKING_TRACKING_H_
-#define PCL_TRACKING_TRACKING_H_
+#pragma once
 
 #include <pcl/point_types.h>
 
@@ -131,5 +130,3 @@ POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::tracking::ParticleXYZR, pcl::tracking::_
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/tracking.hpp>
 #endif
-
-#endif
diff --git a/visualization/include/pcl/visualization/area_picking_event.h b/visualization/include/pcl/visualization/area_picking_event.h
index dd29530addb..0091aca41e9 100644
--- a/visualization/include/pcl/visualization/area_picking_event.h
+++ b/visualization/include/pcl/visualization/area_picking_event.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_AREA_PICKING_EVENT_H_
-#define PCL_VISUALIZATION_AREA_PICKING_EVENT_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -73,5 +72,3 @@ namespace pcl
     };
   } //namespace visualization
 } //namespace pcl
-
-#endif  /* PCL_VISUALIZATION_AREA_PICKING_EVENT_H_ */
diff --git a/visualization/include/pcl/visualization/boost.h b/visualization/include/pcl/visualization/boost.h
index c0019a90202..7f0de550e94 100644
--- a/visualization/include/pcl/visualization/boost.h
+++ b/visualization/include/pcl/visualization/boost.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_BOOST_H_
-#define PCL_VISUALIZATION_BOOST_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -65,5 +64,3 @@
 #endif
 #include <boost/filesystem.hpp>
 #endif
-
-#endif    // PCL_VISUALIZATION_BOOST_H_
diff --git a/visualization/include/pcl/visualization/cloud_viewer.h b/visualization/include/pcl/visualization/cloud_viewer.h
index c0f9edb7201..b96f3a9591f 100644
--- a/visualization/include/pcl/visualization/cloud_viewer.h
+++ b/visualization/include/pcl/visualization/cloud_viewer.h
@@ -33,8 +33,8 @@
  *
  *
  */
-#ifndef PCL_CLOUD_VIEWER_H_
-#define PCL_CLOUD_VIEWER_H_
+
+#pragma once
 
 #include <pcl/visualization/pcl_visualizer.h> //pcl vis
 #include <boost/scoped_ptr.hpp> // scoped_ptr for pre-C++11
@@ -213,5 +213,3 @@ namespace pcl
     };
   }
 }
-
-#endif /* CLOUD_VIEWER_H_ */
diff --git a/visualization/include/pcl/visualization/common/actor_map.h b/visualization/include/pcl/visualization/common/actor_map.h
index 1a9b1a0bac8..7f5a1c70843 100644
--- a/visualization/include/pcl/visualization/common/actor_map.h
+++ b/visualization/include/pcl/visualization/common/actor_map.h
@@ -34,8 +34,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_VISUALIZER_ACTOR_MAP_H_
-#define PCL_PCL_VISUALIZER_ACTOR_MAP_H_
+
+#pragma once
 
 #include <pcl/visualization/point_cloud_handlers.h>
 #include <vector>
@@ -106,5 +106,3 @@ namespace pcl
     typedef boost::shared_ptr<CoordinateActorMap> CoordinateActorMapPtr;
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/common/common.h b/visualization/include/pcl/visualization/common/common.h
index 6c69e95322a..52c8b2208ac 100644
--- a/visualization/include/pcl/visualization/common/common.h
+++ b/visualization/include/pcl/visualization/common/common.h
@@ -34,8 +34,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_VISUALIZER_COMMON_H_
-#define PCL_PCL_VISUALIZER_COMMON_H_
+
+#pragma once
 
 #if defined __GNUC__
 #pragma GCC system_header
@@ -213,5 +213,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/common/impl/common.hpp>
-
-#endif
diff --git a/visualization/include/pcl/visualization/common/float_image_utils.h b/visualization/include/pcl/visualization/common/float_image_utils.h
index 2a89473723a..71b512c2657 100644
--- a/visualization/include/pcl/visualization/common/float_image_utils.h
+++ b/visualization/include/pcl/visualization/common/float_image_utils.h
@@ -32,11 +32,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <pcl/pcl_config.h>
-
-#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
-#define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
+#pragma once
 
+#include <pcl/pcl_config.h>
 #include <pcl/pcl_macros.h>
 
 #include <iostream>
diff --git a/visualization/include/pcl/visualization/common/io.h b/visualization/include/pcl/visualization/common/io.h
index 6b2d826b873..78990d728ee 100644
--- a/visualization/include/pcl/visualization/common/io.h
+++ b/visualization/include/pcl/visualization/common/io.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_PCL_VISUALIZER_COMMON_IO_H_
-#define PCL_PCL_VISUALIZER_COMMON_IO_H_
+
+#pragma once
 
 #include <pcl/visualization/common/actor_map.h>
 #include <pcl/kdtree/kdtree_flann.h>
@@ -70,5 +70,3 @@ namespace pcl
     savePointData (vtkPolyData* data, const std::string &out_file, const boost::shared_ptr<CloudActorMap> &actors);
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/common/ren_win_interact_map.h b/visualization/include/pcl/visualization/common/ren_win_interact_map.h
index f76046e3f7d..082bf53bff8 100644
--- a/visualization/include/pcl/visualization/common/ren_win_interact_map.h
+++ b/visualization/include/pcl/visualization/common/ren_win_interact_map.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_PCL_VISUALIZER_REN_WIN_INTERACT_MAP_H_
-#define PCL_PCL_VISUALIZER_REN_WIN_INTERACT_MAP_H_
+#pragma once
 
 #include <map>
 #include <string>
@@ -82,5 +81,3 @@ namespace pcl
     typedef std::map<std::string, RenWinInteract> RenWinInteractMap;
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/common/shapes.h b/visualization/include/pcl/visualization/common/shapes.h
index e97b028765e..67f7df8dcb0 100644
--- a/visualization/include/pcl/visualization/common/shapes.h
+++ b/visualization/include/pcl/visualization/common/shapes.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_VISUALIZER_SHAPES_H_
-#define PCL_PCL_VISUALIZER_SHAPES_H_
+
+#pragma once
 
 #include <pcl/ModelCoefficients.h>
 #include <pcl/point_cloud.h>
@@ -291,5 +291,3 @@ namespace pcl
 /*@}*/
 
 #include <pcl/visualization/common/impl/shapes.hpp>
-
-#endif
diff --git a/visualization/include/pcl/visualization/eigen.h b/visualization/include/pcl/visualization/eigen.h
index 5408de4f969..4c32fbb90a4 100644
--- a/visualization/include/pcl/visualization/eigen.h
+++ b/visualization/include/pcl/visualization/eigen.h
@@ -37,8 +37,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_EIGEN_H_
-#define PCL_VISUALIZATION_EIGEN_H_
+#pragma once
 
 #if defined __GNUC__
 #  pragma GCC system_header 
@@ -46,5 +45,3 @@
 
 #include <Eigen/Geometry>
 #include <Eigen/Dense>
-
-#endif    // PCL_VISUALIZATION_EIGEN_H_
diff --git a/visualization/include/pcl/visualization/histogram_visualizer.h b/visualization/include/pcl/visualization/histogram_visualizer.h
index cbcba84534d..a5b44c5958c 100644
--- a/visualization/include/pcl/visualization/histogram_visualizer.h
+++ b/visualization/include/pcl/visualization/histogram_visualizer.h
@@ -36,8 +36,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_HISTOGRAM_VISUALIZER_H_
-#define PCL_PCL_HISTOGRAM_VISUALIZER_H_
+
+#pragma once
 
 #include <pcl/visualization/interactor_style.h>
 #include <pcl/visualization/common/common.h>
@@ -265,5 +265,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/histogram_visualizer.hpp>
-
-#endif
diff --git a/visualization/include/pcl/visualization/image_viewer.h b/visualization/include/pcl/visualization/image_viewer.h
index 21b060d6c32..049f92fae1e 100644
--- a/visualization/include/pcl/visualization/image_viewer.h
+++ b/visualization/include/pcl/visualization/image_viewer.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
-#define	PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
@@ -1065,6 +1064,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/image_viewer.hpp>
-
-#endif	/* __IMAGE_VISUALIZER_H__ */
-
diff --git a/visualization/include/pcl/visualization/interactor.h b/visualization/include/pcl/visualization/interactor.h
index 64a49523ced..61d5280e551 100644
--- a/visualization/include/pcl/visualization/interactor.h
+++ b/visualization/include/pcl/visualization/interactor.h
@@ -34,8 +34,8 @@
  * $Id: interactor.h 2050 2011-08-12 15:26:19Z bouffa $
  *
  */
-#ifndef PCL_PCL_VISUALIZER_INTERACTOR_H_
-#define PCL_PCL_VISUALIZER_INTERACTOR_H_
+
+#pragma once
 
 #include <pcl/pcl_macros.h>
 
@@ -103,5 +103,3 @@ namespace pcl
     };
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/interactor_style.h b/visualization/include/pcl/visualization/interactor_style.h
index f3b3d24be43..f9dbfb5c159 100644
--- a/visualization/include/pcl/visualization/interactor_style.h
+++ b/visualization/include/pcl/visualization/interactor_style.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
-#define PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
+
+#pragma once
 
 #include <pcl/console/print.h>
 #include <pcl/visualization/common/actor_map.h>
@@ -439,5 +439,3 @@ namespace pcl
     };
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/keyboard_event.h b/visualization/include/pcl/visualization/keyboard_event.h
index 00ff6c0696b..042381893bd 100644
--- a/visualization/include/pcl/visualization/keyboard_event.h
+++ b/visualization/include/pcl/visualization/keyboard_event.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_KEYBOARD_EVENT_H_
-#define	PCL_VISUALIZATION_KEYBOARD_EVENT_H_
+#pragma once
 
 #include <string>
 
@@ -177,6 +176,3 @@ namespace pcl
     }  
   } // namespace visualization
 } // namespace pcl
-
-#endif	/* PCL_VISUALIZATION_KEYBOARD_EVENT_H_ */
-
diff --git a/visualization/include/pcl/visualization/mouse_event.h b/visualization/include/pcl/visualization/mouse_event.h
index b4184dce00e..5a0e0771b29 100644
--- a/visualization/include/pcl/visualization/mouse_event.h
+++ b/visualization/include/pcl/visualization/mouse_event.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_MOUSE_EVENT_H_
-#define	PCL_VISUALIZATION_MOUSE_EVENT_H_
+#pragma once
 
 #include <pcl/visualization/keyboard_event.h>
 
@@ -208,6 +207,3 @@ namespace pcl
 
   } //namespace visualization
 } //namespace pcl
-
-#endif	/* PCL_VISUALIZATION_MOUSE_EVENT_H_ */
-
diff --git a/visualization/include/pcl/visualization/pcl_painter2D.h b/visualization/include/pcl/visualization/pcl_painter2D.h
index d7cf85a7779..3c4795b714c 100644
--- a/visualization/include/pcl/visualization/pcl_painter2D.h
+++ b/visualization/include/pcl/visualization/pcl_painter2D.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALUALIZATION_PCL_PAINTER2D_H_
-#define	PCL_VISUALUALIZATION_PCL_PAINTER2D_H_
+#pragma once
 
 #include <iostream>
 #include <map>
@@ -466,6 +465,3 @@ namespace pcl
 
   }
 }
-
-#endif	/* PCL_VISUALUALIZATION_PCL_PAINTER2D_H_ */
-
diff --git a/visualization/include/pcl/visualization/pcl_plotter.h b/visualization/include/pcl/visualization/pcl_plotter.h
index 6b5f1e79f34..759b07f388e 100644
--- a/visualization/include/pcl/visualization/pcl_plotter.h
+++ b/visualization/include/pcl/visualization/pcl_plotter.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_H_
-#define	PCL_VISUALUALIZATION_PCL_PLOTTER_H_
+
+#pragma once
 
 #include <iostream>
 #include <vector>
@@ -474,6 +474,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/pcl_plotter.hpp>
-
-#endif	/* PCL_VISUALUALIZATION_PCL_PLOTTER_H_ */
-
diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
index 3ae9a8d6f1f..5e6f340c2bc 100644
--- a/visualization/include/pcl/visualization/pcl_visualizer.h
+++ b/visualization/include/pcl/visualization/pcl_visualizer.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_PCL_VISUALIZER_H_
-#define PCL_PCL_VISUALIZER_H_
+
+#pragma once
 
 // PCL includes
 #include <pcl/correspondence.h>
@@ -2350,6 +2350,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/pcl_visualizer.hpp>
-
-#endif
-
diff --git a/visualization/include/pcl/visualization/point_cloud_color_handlers.h b/visualization/include/pcl/visualization/point_cloud_color_handlers.h
index 2ff26385a9c..b4d8f76f2e8 100644
--- a/visualization/include/pcl/visualization/point_cloud_color_handlers.h
+++ b/visualization/include/pcl/visualization/point_cloud_color_handlers.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_POINT_CLOUD_COLOR_HANDLERS_H_
-#define PCL_POINT_CLOUD_COLOR_HANDLERS_H_
+
+#pragma once
 
 #if defined __GNUC__
 #pragma GCC system_header
@@ -946,6 +946,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/point_cloud_color_handlers.hpp>
-
-#endif      // PCL_POINT_CLOUD_COLOR_HANDLERS_H_
-
diff --git a/visualization/include/pcl/visualization/point_cloud_geometry_handlers.h b/visualization/include/pcl/visualization/point_cloud_geometry_handlers.h
index 9c6fecd211d..aad3d0ce260 100644
--- a/visualization/include/pcl/visualization/point_cloud_geometry_handlers.h
+++ b/visualization/include/pcl/visualization/point_cloud_geometry_handlers.h
@@ -34,8 +34,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_
-#define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_
+
+#pragma once
 
 #if defined __GNUC__
 #pragma GCC system_header
@@ -497,6 +497,3 @@ namespace pcl
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>
 #endif
-
-#endif    // PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_
-
diff --git a/visualization/include/pcl/visualization/point_cloud_handlers.h b/visualization/include/pcl/visualization/point_cloud_handlers.h
index ec42da5aee8..3edc43c6b05 100644
--- a/visualization/include/pcl/visualization/point_cloud_handlers.h
+++ b/visualization/include/pcl/visualization/point_cloud_handlers.h
@@ -35,10 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_POINT_CLOUD_HANDLERS_H_
-#define PCL_POINT_CLOUD_HANDLERS_H_
+
+#pragma once
 
 #include <pcl/visualization/point_cloud_geometry_handlers.h>
 #include <pcl/visualization/point_cloud_color_handlers.h>
-
-#endif
diff --git a/visualization/include/pcl/visualization/point_picking_event.h b/visualization/include/pcl/visualization/point_picking_event.h
index 7506bc84269..dc64c739e06 100644
--- a/visualization/include/pcl/visualization/point_picking_event.h
+++ b/visualization/include/pcl/visualization/point_picking_event.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_POINT_PICKING_EVENT_H_
-#define PCL_VISUALIZATION_POINT_PICKING_EVENT_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <vector>
@@ -162,6 +161,3 @@ namespace pcl
     };
   } //namespace visualization
 } //namespace pcl
-
-#endif  /* PCL_VISUALIZATION_POINT_PICKING_EVENT_H_ */
-
diff --git a/visualization/include/pcl/visualization/range_image_visualizer.h b/visualization/include/pcl/visualization/range_image_visualizer.h
index dc5305f396c..4a4ad1624f7 100644
--- a/visualization/include/pcl/visualization/range_image_visualizer.h
+++ b/visualization/include/pcl/visualization/range_image_visualizer.h
@@ -34,12 +34,10 @@
  *
  */
 
-#include <pcl/pcl_config.h>
-
-#ifndef PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
-#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
+#pragma once
 
 // PCL includes
+#include <pcl/pcl_config.h>
 #include <pcl/range_image/range_image.h>
 #include <pcl/visualization/image_viewer.h>
 
@@ -113,5 +111,3 @@ namespace pcl
     };
   }
 }
-
-#endif  //#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
diff --git a/visualization/include/pcl/visualization/registration_visualizer.h b/visualization/include/pcl/visualization/registration_visualizer.h
index 2b4f6080216..6bd9e0ebe13 100644
--- a/visualization/include/pcl/visualization/registration_visualizer.h
+++ b/visualization/include/pcl/visualization/registration_visualizer.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_REGISTRATION_VISUALIZER_H_
-#define PCL_REGISTRATION_VISUALIZER_H_
+#pragma once
 
 // PCL
 #include <pcl/registration/registration.h>
@@ -206,5 +205,3 @@ namespace pcl
 }
 
 #include <pcl/visualization/impl/registration_visualizer.hpp>
-
-#endif  //#ifndef PCL_REGISTRATION_VISUALIZER_H_
diff --git a/visualization/include/pcl/visualization/simple_buffer_visualizer.h b/visualization/include/pcl/visualization/simple_buffer_visualizer.h
index d340a50db78..364a558201f 100644
--- a/visualization/include/pcl/visualization/simple_buffer_visualizer.h
+++ b/visualization/include/pcl/visualization/simple_buffer_visualizer.h
@@ -1,5 +1,4 @@
-#ifndef PCL_VISUALIZATION_SIMPLE_BUFF_H
-#define PCL_VISUALIZATION_SIMPLE_BUFF_H
+#pragma once
 
 #include <pcl/visualization/histogram_visualizer.h>
 
@@ -224,5 +223,3 @@ namespace pcl
     };    
   }  
 }
-
-#endif // PCL_VISUALIZATION_SIMPLE_BUFF_H
diff --git a/visualization/include/pcl/visualization/vtk.h b/visualization/include/pcl/visualization/vtk.h
index a6bb848ec22..022137d97a2 100644
--- a/visualization/include/pcl/visualization/vtk.h
+++ b/visualization/include/pcl/visualization/vtk.h
@@ -37,8 +37,8 @@
  * $Id$
  *
  */
-#ifndef PCL_PCL_VISUALIZER_VTK_H_
-#define PCL_PCL_VISUALIZER_VTK_H_
+
+#pragma once
 
 #if defined __GNUC__
 #pragma GCC system_header
@@ -183,6 +183,3 @@
 #define __DEPRECATED
 #undef __DEPRECATED_DISABLED__
 #endif
-
-#endif    // PCL_PCL_VISUALIZER_VTK_H_
-
diff --git a/visualization/include/pcl/visualization/vtk/pcl_context_item.h b/visualization/include/pcl/visualization/vtk/pcl_context_item.h
index cabc3ddc6f5..452f7792770 100644
--- a/visualization/include/pcl/visualization/vtk/pcl_context_item.h
+++ b/visualization/include/pcl/visualization/vtk/pcl_context_item.h
@@ -35,8 +35,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZATION_PCL_CONTEXT_ITEM_H_
-#define	PCL_VISUALIZATION_PCL_CONTEXT_ITEM_H_
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <vtkContextItem.h>
@@ -170,5 +169,3 @@ namespace pcl
     }
   }
 }
-
-#endif
diff --git a/visualization/include/pcl/visualization/vtk/pcl_image_canvas_source_2d.h b/visualization/include/pcl/visualization/vtk/pcl_image_canvas_source_2d.h
index 3f790124fc0..d3324b5f323 100644
--- a/visualization/include/pcl/visualization/vtk/pcl_image_canvas_source_2d.h
+++ b/visualization/include/pcl/visualization/vtk/pcl_image_canvas_source_2d.h
@@ -35,8 +35,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  */
-#ifndef PCL_VTK_IMAGE_CANVAS_SOURCE_2D_H_
-#define PCL_VTK_IMAGE_CANVAS_SOURCE_2D_H_
+
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <vtkImageCanvasSource2D.h>
@@ -58,5 +58,3 @@ namespace pcl
     };
   }
 }
-
-#endif      // PCL_VTK_IMAGE_CANVAS_SOURCE_2D_H_
diff --git a/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h b/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h
index a2bf54bf358..b427e76d9d3 100644
--- a/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h
+++ b/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h
@@ -34,12 +34,9 @@
   *  POSSIBILITY OF SUCH DAMAGE.
   *
   */
-#ifndef PCL_VISUALIZATION_VTK_RENDER_WINDOW_FIX_H_
-#define PCL_VISUALIZATION_VTK_RENDER_WINDOW_FIX_H_
+
+#pragma once
 
 #include <vtkRenderWindowInteractor.h>
 
 vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew ();
-
-#endif    // PCL_VISUALIZATION_VTK_RENDER_WINDOW_FIX_H_
-
diff --git a/visualization/include/pcl/visualization/window.h b/visualization/include/pcl/visualization/window.h
index c434343b072..cb13fd51a6c 100644
--- a/visualization/include/pcl/visualization/window.h
+++ b/visualization/include/pcl/visualization/window.h
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_VISUALIZER_WINDOW_H__
-#define	PCL_VISUALIZER_WINDOW_H__
+#pragma once
 
 #include <pcl/pcl_macros.h>
 #include <boost/signals2/signal.hpp>
@@ -228,6 +227,3 @@ namespace pcl
     };
   }
 }
-
-#endif	/* __WINDOW_H__ */
-