diff --git visualization/include/pcl/visualization/common/common.h visualization/include/pcl/visualization/common/common.h
index 67f337407..6dec24c3a 100644
--- visualization/include/pcl/visualization/common/common.h
+++ visualization/include/pcl/visualization/common/common.h
@@ -44,9 +44,6 @@
 #include <Eigen/Core> // for Matrix, ...
 
 #include <pcl/pcl_macros.h>
-#include <vtkMatrix4x4.h>
-#include <vtkSmartPointer.h>
-#include <vtkLookupTable.h>
 
 class vtkCamera;
 class vtkRenderWindow;
@@ -75,8 +72,6 @@ namespace pcl
     PCL_EXPORTS void
     getRandomColors (pcl::RGB &rgb, double min = 0.2, double max = 2.8);
 
-    PCL_EXPORTS Eigen::Matrix4d
-    vtkToEigen (vtkMatrix4x4* vtk_matrix);
 
     PCL_EXPORTS Eigen::Vector2i
     worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
@@ -139,13 +134,6 @@ namespace pcl
       PCL_VISUALIZER_LUT_VIRIDIS        /**< Viridis colormap */
     };
 
-    /** \brief Generate a lookup table for a colormap.
-      * \param[in] colormap_type
-      * \param[out] table a vtk lookup table
-      * \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
-      */
-    PCL_EXPORTS bool
-    getColormapLUT  (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer<vtkLookupTable> &table);
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
diff --git visualization/src/common/common.cpp visualization/src/common/common.cpp
index 2eeb72e37..2e67b56b3 100644
--- visualization/src/common/common.cpp
+++ visualization/src/common/common.cpp
@@ -35,8 +35,6 @@
  *
  */
 
-#include <vtkCamera.h>
-#include <vtkRenderWindow.h>
 
 #include <Eigen/Geometry> // for cross
 
@@ -82,22 +80,6 @@ pcl::visualization::getRandomColors (pcl::RGB &rgb, double min, double max)
   rgb.b = static_cast<std::uint8_t>(b * 255.0);
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-
-Eigen::Matrix4d
-pcl::visualization::vtkToEigen (vtkMatrix4x4* vtk_matrix)
-{
-  Eigen::Matrix4d eigen_matrix = Eigen::Matrix4d::Identity ();
-  for (int i=0; i < 4; i++)
-  {
-    for (int j=0; j < 4; j++)
-    {
-      // VTK
-      eigen_matrix (i, j) = vtk_matrix->GetElement (i, j);
-    }
-  }
-  return eigen_matrix;
-}
 
 /////////////////////////////////////////////////////////////////////////////////////////////
 Eigen::Vector2i
@@ -362,106 +344,6 @@ pcl::visualization::viewScreenArea (
   return (std::abs (static_cast<float>(sum * 0.5f)));
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-bool
-pcl::visualization::getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer<vtkLookupTable> &table)
-{
-  table = vtkSmartPointer<vtkLookupTable>::New ();
-  switch (colormap_type)
-  {
-    case PCL_VISUALIZER_LUT_JET:
-    {
-      table->SetHueRange (0, 0.667);
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      break;
-    }
-      
-    case PCL_VISUALIZER_LUT_JET_INVERSE:
-    {
-      table->SetHueRange (0.667, 0);
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      break;
-    }
-      
-    case PCL_VISUALIZER_LUT_HSV:
-    {
-      table->SetHueRange (0, 1);
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      break;
-    }
-      
-    case PCL_VISUALIZER_LUT_HSV_INVERSE:
-    {
-      table->SetHueRange (1, 0);
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      break;
-    }
-      
-    case PCL_VISUALIZER_LUT_GREY:
-    {
-      table->SetValueRange (0, 1);
-      table->SetHueRange (0, 0);
-      table->SetSaturationRange (0, 0);
-      table->SetAlphaRange (1, 1);
-      break;
-    }
-      
-    case PCL_VISUALIZER_LUT_BLUE2RED:
-    {
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      table->SetNumberOfTableValues (256);
-
-      double red[3]   = {1.0, 0.0, 0.0};
-      double white[3] = {1.0, 1.0, 1.0};
-      double blue[3]  = {0.0, 0.0, 1.0};
-      
-      for (std::size_t i = 0; i < 128; i++)
-      {
-        double weight = static_cast<double>(i) / 128.0;
-        table->SetTableValue  ( i,
-                                white[0] * weight + blue[0] * (1 - weight),
-                                white[1] * weight + blue[1] * (1 - weight),
-                                white[2] * weight + blue[2] * (1 - weight)  );
-      }
-      
-      for (std::size_t i = 128; i < 256; i++)
-      {
-        double weight = (static_cast<double>(i) -128.0) / 128.0;
-        table->SetTableValue  ( i,
-                                red[0] * weight + white[0] * (1 - weight),
-                                red[1] * weight + white[1] * (1 - weight),
-                                red[2] * weight + white[2] * (1 - weight)  );
-      }
-      break;
-    }
-
-    case PCL_VISUALIZER_LUT_VIRIDIS:
-    {
-      table->SetSaturationRange (1, 1);
-      table->SetAlphaRange (1, 1);
-      table->SetNumberOfTableValues (pcl::ViridisLUT::size ());
-      for (std::size_t i = 0; i < pcl::ViridisLUT::size (); i++)
-      {
-        pcl::RGB c = pcl::ViridisLUT::at (i);
-        table->SetTableValue (i, static_cast<double> (c.r) / 255.0,
-                                 static_cast<double> (c.g) / 255.0,
-                                 static_cast<double> (c.b) / 255.0);
-      }
-      break;
-    }
-
-    default:
-      PCL_WARN ("[pcl::visualization::getColormapLUT] Requested colormap type does not exist!\n");
-      return false;
-  }
-  table->Build ();
-  return true;
-}
 
 pcl::visualization::Camera::Camera ()
 {
@@ -493,26 +375,6 @@ pcl::visualization::Camera::Camera ()
   window_size[1] = 1;
 }
 
-pcl::visualization::Camera::Camera (vtkCamera& camera)
-{
-  camera.GetFocalPoint (focal);
-  camera.GetPosition (pos);
-  camera.GetViewUp (view);
-  camera.GetClippingRange (clip);
-  fovy = camera.GetViewAngle () / 180.0 * M_PI;
-}
-
-pcl::visualization::Camera::Camera (vtkCamera& camera, vtkRenderWindow& window)
-: Camera (camera)
-{
-  int *win_pos = window.GetPosition ();
-  int *win_size = window.GetSize ();
-  window_pos[0] = win_pos[0];
-  window_pos[1] = win_pos[1];
-  window_size[0] = win_size[0];
-  window_size[1] = win_size[1];
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl::visualization::Camera::computeViewMatrix (Eigen::Matrix4d &view_mat) const