diff --git a/modules/tracker/mbt/include/visp3/mbt/vpMbtFaceDepthNormal.h b/modules/tracker/mbt/include/visp3/mbt/vpMbtFaceDepthNormal.h
index 388de1570c..6efddf40a6 100644
--- a/modules/tracker/mbt/include/visp3/mbt/vpMbtFaceDepthNormal.h
+++ b/modules/tracker/mbt/include/visp3/mbt/vpMbtFaceDepthNormal.h
@@ -39,7 +39,7 @@
 #include <iostream>
 
 #include <visp3/core/vpConfig.h>
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #endif
@@ -63,7 +63,7 @@ class VISP_EXPORT vpMbtFaceDepthNormal
   {
     ROBUST_FEATURE_ESTIMATION = 0,
     ROBUST_SVD_PLANE_ESTIMATION = 1,
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
     PCL_PLANE_ESTIMATION = 2
 #endif
   };
@@ -91,7 +91,7 @@ class VISP_EXPORT vpMbtFaceDepthNormal
   void addLine(vpPoint &p1, vpPoint &p2, vpMbHiddenFaces<vpMbtPolygon> *const faces, vpUniRand &rand_gen,
                int polygon = -1, std::string name = "");
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
   bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height,
                               const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud,
                               vpColVector &desired_features, unsigned int stepX, unsigned int stepY
@@ -128,7 +128,7 @@ class VISP_EXPORT vpMbtFaceDepthNormal
 
   void computeNormalVisibility(double nx, double ny, double nz, const vpColVector &centroid_point,
                                vpColVector &face_normal);
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
   void computeNormalVisibility(float nx, float ny, float nz, const pcl::PointXYZ &centroid_point,
                                pcl::PointXYZ &face_normal);
 #endif
@@ -279,7 +279,7 @@ class VISP_EXPORT vpMbtFaceDepthNormal
   //!
   std::vector<PolygonLine> m_polygonLines;
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
   bool computeDesiredFeaturesPCL(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud_face,
                                  vpColVector &desired_features, vpColVector &desired_normal,
                                  vpColVector &centroid_point);
@@ -315,7 +315,7 @@ class VISP_EXPORT vpMbtFaceDepthNormal
 
 #ifdef VISP_HAVE_NLOHMANN_JSON
 #include<nlohmann/json.hpp>
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
 NLOHMANN_JSON_SERIALIZE_ENUM(vpMbtFaceDepthNormal::vpFeatureEstimationType, {
     {vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION, "robust"},
     {vpMbtFaceDepthNormal::ROBUST_SVD_PLANE_ESTIMATION, "robustSVD"},
diff --git a/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp b/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp
index 810c63d355..ad726e3af1 100644
--- a/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp
+++ b/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp
@@ -37,7 +37,7 @@
 #include <visp3/mbt/vpMbtFaceDepthNormal.h>
 #include <visp3/mbt/vpMbtTukeyEstimator.h>
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
 #include <pcl/common/centroid.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/segmentation/sac_segmentation.h>
@@ -146,7 +146,7 @@ void vpMbtFaceDepthNormal::addLine(vpPoint &P1, vpPoint &P2, vpMbHiddenFaces<vpM
   }
 }
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
 bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width,
                                                   unsigned int height,
                                                   const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud,
@@ -443,7 +443,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo
   // Face centroid computed by the different methods
   vpColVector centroid_point(3);
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
   if (m_featureEstimationMethod == PCL_PLANE_ESTIMATION) {
     pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_face_pcl(new pcl::PointCloud<pcl::PointXYZ>);
     point_cloud_face_pcl->reserve(point_cloud_face.size() / 3);
@@ -604,7 +604,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo
   // Face centroid computed by the different methods
   vpColVector centroid_point(3);
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
   if (m_featureEstimationMethod == PCL_PLANE_ESTIMATION) {
     pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_face_pcl(new pcl::PointCloud<pcl::PointXYZ>);
     point_cloud_face_pcl->reserve(point_cloud_face.size() / 3);
@@ -635,7 +635,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo
 
   return true;
 }
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
 bool vpMbtFaceDepthNormal::computeDesiredFeaturesPCL(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud_face,
                                                      vpColVector &desired_features, vpColVector &desired_normal,
                                                      vpColVector &centroid_point)
@@ -991,7 +991,7 @@ void vpMbtFaceDepthNormal::computeNormalVisibility(double nx, double ny, double
   }
 }
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS) && defined(VISP_HAVE_PCL_COMMON)
 void vpMbtFaceDepthNormal::computeNormalVisibility(float nx, float ny, float nz, const pcl::PointXYZ &centroid_point,
                                                    pcl::PointXYZ &face_normal)
 {