diff --git a/RELEASE_NOTES.md b/RELEASE_NOTES.md
index e4bde79c6e..5a0fbd4524 100644
--- a/RELEASE_NOTES.md
+++ b/RELEASE_NOTES.md
@@ -5,6 +5,7 @@ A new header is inserted each time a *tag* is created.
 
 ## Next release
 
+- Removed `<iostream>` from math headers.
 - Fix bad instruction exception with macOS Catalina.
 - Added support for solid and thin layer cubemap and screen-space refraction.
 - Improved high roughness material rendering by default when regenerating environments maps.
diff --git a/filament/backend/src/android/ExternalStreamManagerAndroid.cpp b/filament/backend/src/android/ExternalStreamManagerAndroid.cpp
index da2941f545..5587ce666b 100644
--- a/filament/backend/src/android/ExternalStreamManagerAndroid.cpp
+++ b/filament/backend/src/android/ExternalStreamManagerAndroid.cpp
@@ -22,6 +22,8 @@
 
 #include <dlfcn.h>
 
+#include <chrono>
+
 using namespace utils;
 
 namespace filament {
diff --git a/libs/gltfio/src/MaterialProvider.cpp b/libs/gltfio/src/MaterialProvider.cpp
index 3e2c608304..58eea85067 100644
--- a/libs/gltfio/src/MaterialProvider.cpp
+++ b/libs/gltfio/src/MaterialProvider.cpp
@@ -16,6 +16,8 @@
 
 #include <gltfio/MaterialProvider.h>
 
+#include <string>
+
 using namespace gltfio;
 
 bool gltfio::operator==(const MaterialKey& k1, const MaterialKey& k2) {
diff --git a/libs/ibl/src/CubemapSH.cpp b/libs/ibl/src/CubemapSH.cpp
index 0758d83d06..fc8b00c782 100644
--- a/libs/ibl/src/CubemapSH.cpp
+++ b/libs/ibl/src/CubemapSH.cpp
@@ -28,6 +28,7 @@
 
 #include <array>
 #include <limits>
+#include <iomanip>
 
 using namespace filament::math;
 using namespace utils;
diff --git a/libs/imageio/src/ImageDecoder.cpp b/libs/imageio/src/ImageDecoder.cpp
index f10f469d01..54b01c01dc 100644
--- a/libs/imageio/src/ImageDecoder.cpp
+++ b/libs/imageio/src/ImageDecoder.cpp
@@ -20,7 +20,7 @@
 
 #include <cstdint>
 #include <cstring> // for memcmp
-#include <istream>
+#include <iostream> // for cerr
 #include <limits>
 #include <memory>
 #include <sstream>
diff --git a/libs/imageio/src/ImageEncoder.cpp b/libs/imageio/src/ImageEncoder.cpp
index 0846244f85..4e7f3b5749 100644
--- a/libs/imageio/src/ImageEncoder.cpp
+++ b/libs/imageio/src/ImageEncoder.cpp
@@ -22,7 +22,7 @@
 #include <functional>
 #include <limits>
 #include <memory>
-#include <ostream>
+#include <iostream> // for cerr
 
 #if defined(WIN32)
     #include <Winsock2.h>
diff --git a/libs/math/CMakeLists.txt b/libs/math/CMakeLists.txt
index 31ed064e0b..906b1dd3f7 100644
--- a/libs/math/CMakeLists.txt
+++ b/libs/math/CMakeLists.txt
@@ -13,9 +13,25 @@ endif()
 # ==================================================================================================
 # Sources and headers
 # ==================================================================================================
-file(GLOB_RECURSE PUBLIC_HDRS ${PUBLIC_HDR_DIR}/${TARGET}/*.h)
+set(PUBLIC_HDRS
+        include/math/TMatHelpers.h
+        include/math/TQuatHelpers.h
+        include/math/TVecHelpers.h
+        include/math/compiler.h
+        include/math/fast.h
+        include/math/half.h
+        include/math/mat2.h
+        include/math/mat3.h
+        include/math/mat4.h
+        include/math/norm.h
+        include/math/quat.h
+        include/math/scalar.h
+        include/math/vec2.h
+        include/math/vec3.h
+        include/math/vec4.h
+)
 
-set(SRCS dummy.cpp)
+set(SRCS src/StreamHelpers.cpp)
 
 # ==================================================================================================
 # Include and target definitions
diff --git a/libs/math/dummy.cpp b/libs/math/dummy.cpp
deleted file mode 100644
index 3a6c9c21f3..0000000000
--- a/libs/math/dummy.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-// Empty symbol used to suppress warnings on Darwin
-#if __has_attribute(visibility) 
-    __attribute__((visibility("hidden")))
-#endif
-void e() {
-}
diff --git a/libs/math/include/math/TMatHelpers.h b/libs/math/include/math/TMatHelpers.h
index a419ff2acc..187744ad35 100644
--- a/libs/math/include/math/TMatHelpers.h
+++ b/libs/math/include/math/TMatHelpers.h
@@ -23,8 +23,7 @@
 
 #include <algorithm>        // for std::swap
 #include <cmath>            // for std:: namespace
-#include <iostream>         // for operator<<
-#include <iomanip>          // for std::setw
+#include <iosfwd>           // for operator<<
 
 #include <math.h>
 #include <stdint.h>
@@ -801,34 +800,14 @@ public:
     }
 };
 
+template<typename T>
+std::ostream& printMatrix(std::ostream& stream, const T* data, size_t rows, size_t cols);
 
 template<template<typename T> class BASE, typename T>
 class TMatDebug {
 private:
     friend std::ostream& operator<<(std::ostream& stream, const BASE<T>& m) {
-        for (size_t row = 0; row < BASE<T>::NUM_ROWS; ++row) {
-            if (row != 0) {
-                stream << std::endl;
-            }
-            if (row == 0) {
-                stream << "/ ";
-            } else if (row == BASE<T>::NUM_ROWS - 1) {
-                stream << "\\ ";
-            } else {
-                stream << "| ";
-            }
-            for (size_t col = 0; col < BASE<T>::NUM_COLS; ++col) {
-                stream << std::setw(10) << std::to_string(m[col][row]);
-            }
-            if (row == 0) {
-                stream << " \\";
-            } else if (row == BASE<T>::NUM_ROWS - 1) {
-                stream << " /";
-            } else {
-                stream << " |";
-            }
-        }
-        return stream;
+        return printMatrix(stream, &m[0][0], BASE<T>::NUM_ROWS, BASE<T>::NUM_COLS);
     }
 };
 
diff --git a/libs/math/include/math/TQuatHelpers.h b/libs/math/include/math/TQuatHelpers.h
index 68549cc049..b7a834079a 100644
--- a/libs/math/include/math/TQuatHelpers.h
+++ b/libs/math/include/math/TQuatHelpers.h
@@ -22,7 +22,7 @@
 #include <stdint.h>
 #include <sys/types.h>
 
-#include <iostream>
+#include <iosfwd>
 
 #include <math/compiler.h>
 #include <math/scalar.h>
@@ -286,6 +286,9 @@ public:
     }
 };
 
+template<template<typename T> class BASE, typename T>
+std::ostream& printQuat(std::ostream& stream, const BASE<T>& m);
+
 /*
  * TQuatDebug implements functions on a vector of type BASE<T>.
  *
@@ -304,7 +307,7 @@ public:
      * (the first one, BASE<T> being known).
      */
     friend std::ostream& operator<<(std::ostream& stream, const QUATERNION<T>& q) {
-        return stream << "< " << q.w << " + " << q.x << "i + " << q.y << "j + " << q.z << "k >";
+        return printQuat(stream, q);
     }
 };
 
diff --git a/libs/math/include/math/TVecHelpers.h b/libs/math/include/math/TVecHelpers.h
index 044e2dbe21..798b7da69f 100644
--- a/libs/math/include/math/TVecHelpers.h
+++ b/libs/math/include/math/TVecHelpers.h
@@ -21,7 +21,7 @@
 
 #include <cmath>            // for std:: namespace
 #include <functional>       // for appl() and map()
-#include <iostream>         // for operator<<
+#include <iosfwd>           // for operator<<
 
 #include <math.h>
 #include <stdint.h>
@@ -567,6 +567,9 @@ private:
     }
 };
 
+template<typename T>
+std::ostream& printVector(std::ostream& stream, const T* data, size_t count);
+
 /*
  * TVecDebug implements functions on a vector of type BASE<T>.
  *
@@ -585,12 +588,7 @@ private:
      * (the first one, BASE<T> being known).
      */
     friend std::ostream& operator<<(std::ostream& stream, const VECTOR<T>& v) {
-        stream << "< ";
-        for (size_t i = 0; i < v.size() - 1; i++) {
-            stream << T(v[i]) << ", ";
-        }
-        stream << T(v[v.size() - 1]) << " >";
-        return stream;
+        return printVector(stream, &v[0], v.size());
     }
 };
 
diff --git a/libs/math/src/StreamHelpers.cpp b/libs/math/src/StreamHelpers.cpp
new file mode 100644
index 0000000000..a10c6fe669
--- /dev/null
+++ b/libs/math/src/StreamHelpers.cpp
@@ -0,0 +1,89 @@
+/*
+ * Copyright 2020 The Android Open Source Project
+*
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <math/vec2.h>
+#include <math/vec3.h>
+#include <math/vec4.h>
+#include <math/mat2.h>
+#include <math/mat3.h>
+#include <math/mat4.h>
+#include <math/quat.h>
+
+#include <iomanip>
+#include <ostream>
+#include <string>
+
+namespace filament {
+namespace math {
+namespace details {
+
+template<typename T>
+std::ostream& printVector(std::ostream& stream, const T* data, size_t count) {
+    stream << "< ";
+    for (size_t i = 0; i < count - 1; i++) {
+        stream << data[i] << ", ";
+    }
+    stream << data[count - 1] << " >";
+    return stream;
+}
+
+template<typename T>
+std::ostream& printMatrix(std::ostream& stream, const T* m, size_t rows, size_t cols) {
+    for (size_t row = 0; row < rows; ++row) {
+        if (row != 0) {
+            stream << std::endl;
+        }
+        if (row == 0) {
+            stream << "/ ";
+        } else if (row == rows - 1) {
+            stream << "\\ ";
+        } else {
+            stream << "| ";
+        }
+        for (size_t col = 0; col < cols; ++col) {
+            stream << std::setw(10) << std::to_string(m[row + col * rows]);
+        }
+        if (row == 0) {
+            stream << " \\";
+        } else if (row == rows - 1) {
+            stream << " /";
+        } else {
+            stream << " |";
+        }
+    }
+    return stream;
+}
+
+template<template<typename T> class BASE, typename T>
+std::ostream& printQuat(std::ostream& stream, const BASE<T>& q) {
+    return stream << "< " << q.w << " + " << q.x << "i + " << q.y << "j + " << q.z << "k >";
+}
+
+template std::ostream& printMatrix(std::ostream& stream, const double* data, size_t rows, size_t cols);
+template std::ostream& printMatrix(std::ostream& stream, const float* data, size_t rows, size_t cols);
+
+template std::ostream& printVector(std::ostream& stream, const double* data, size_t count);
+template std::ostream& printVector(std::ostream& stream, const float* data, size_t count);
+template std::ostream& printVector(std::ostream& stream, const int* data, size_t count);
+template std::ostream& printVector(std::ostream& stream, const half* data, size_t count);
+
+template std::ostream& printQuat(std::ostream& stream, const quath& q);
+template std::ostream& printQuat(std::ostream& stream, const quatf& q);
+template std::ostream& printQuat(std::ostream& stream, const quat& q);
+
+}  // namespace details
+}  // namespace math
+}  // namespace filament
diff --git a/libs/utils/include/utils/Path.h b/libs/utils/include/utils/Path.h
index 1f498932b5..d5317b129f 100644
--- a/libs/utils/include/utils/Path.h
+++ b/libs/utils/include/utils/Path.h
@@ -17,7 +17,7 @@
 #ifndef UTILS_PATH_H_
 #define UTILS_PATH_H_
 
-#include <ostream>
+#include <iosfwd>
 #include <string>
 #include <vector>
 
diff --git a/samples/app/FilamentApp.cpp b/samples/app/FilamentApp.cpp
index e166032551..4ade324608 100644
--- a/samples/app/FilamentApp.cpp
+++ b/samples/app/FilamentApp.cpp
@@ -25,6 +25,8 @@
 #    include <utils/unwindows.h>
 #endif
 
+#include <iostream>
+
 #include <imgui.h>
 
 #include <utils/Panic.h>
diff --git a/samples/app/IBL.cpp b/samples/app/IBL.cpp
index b13236664f..3532a04b76 100644
--- a/samples/app/IBL.cpp
+++ b/samples/app/IBL.cpp
@@ -17,6 +17,7 @@
 #include "IBL.h"
 
 #include <fstream>
+#include <iostream>
 #include <string>
 
 #include <filament/Engine.h>
diff --git a/samples/app/MeshAssimp.cpp b/samples/app/MeshAssimp.cpp
index ad2777b6c0..be3b33eed0 100644
--- a/samples/app/MeshAssimp.cpp
+++ b/samples/app/MeshAssimp.cpp
@@ -31,6 +31,7 @@
 #include <string.h>
 
 #include <array>
+#include <iostream>
 
 #include <filament/Color.h>
 #include <filament/VertexBuffer.h>
diff --git a/samples/frame_generator.cpp b/samples/frame_generator.cpp
index 0ad5f8749b..e843dc85c4 100644
--- a/samples/frame_generator.cpp
+++ b/samples/frame_generator.cpp
@@ -16,6 +16,8 @@
 
 #include <atomic>
 #include <fstream>
+#include <iomanip>
+#include <iostream>
 #include <map>
 #include <memory>
 #include <string>
diff --git a/samples/gltf_baker.cpp b/samples/gltf_baker.cpp
index 684c865ab1..608da542c1 100644
--- a/samples/gltf_baker.cpp
+++ b/samples/gltf_baker.cpp
@@ -47,6 +47,7 @@
 #include <atomic>
 #include <functional>
 #include <fstream>
+#include <iostream>
 #include <string>
 
 #include "generated/resources/resources.h"
diff --git a/samples/gltf_viewer.cpp b/samples/gltf_viewer.cpp
index 1fe665dcc4..e3ec586565 100644
--- a/samples/gltf_viewer.cpp
+++ b/samples/gltf_viewer.cpp
@@ -34,6 +34,7 @@
 #include <utils/NameComponentManager.h>
 
 #include <fstream>
+#include <iostream>
 #include <string>
 
 #include "generated/resources/gltf_viewer.h"
diff --git a/samples/lightbulb.cpp b/samples/lightbulb.cpp
index 194538f2c1..3bcdd421bf 100644
--- a/samples/lightbulb.cpp
+++ b/samples/lightbulb.cpp
@@ -14,6 +14,7 @@
  * limitations under the License.
  */
 
+#include <iostream>
 #include <string>
 #include <map>
 #include <vector>
diff --git a/samples/material_sandbox.cpp b/samples/material_sandbox.cpp
index dba3ac2193..3155e52451 100644
--- a/samples/material_sandbox.cpp
+++ b/samples/material_sandbox.cpp
@@ -14,6 +14,7 @@
  * limitations under the License.
  */
 
+#include <iostream>
 #include <string>
 #include <map>
 #include <vector>
diff --git a/samples/sample_cloth.cpp b/samples/sample_cloth.cpp
index cb34955a8a..e915717204 100644
--- a/samples/sample_cloth.cpp
+++ b/samples/sample_cloth.cpp
@@ -14,6 +14,7 @@
  * limitations under the License.
  */
 
+#include <iostream>
 #include <string>
 #include <map>
 #include <vector>
diff --git a/samples/sample_full_pbr.cpp b/samples/sample_full_pbr.cpp
index 21a65ed8c6..0a17bba437 100644
--- a/samples/sample_full_pbr.cpp
+++ b/samples/sample_full_pbr.cpp
@@ -40,6 +40,7 @@
 
 #include <stb_image.h>
 
+#include <iostream>
 #include <memory>
 #include <map>
 #include <string>
diff --git a/samples/sample_normal_map.cpp b/samples/sample_normal_map.cpp
index 39d7e42122..91a665acd9 100644
--- a/samples/sample_normal_map.cpp
+++ b/samples/sample_normal_map.cpp
@@ -14,6 +14,7 @@
  * limitations under the License.
  */
 
+#include <iostream>
 #include <string>
 #include <map>
 #include <vector>
diff --git a/samples/vk_texturedquad.cpp b/samples/vk_texturedquad.cpp
index 175a1dd52e..92e74b3db8 100644
--- a/samples/vk_texturedquad.cpp
+++ b/samples/vk_texturedquad.cpp
@@ -31,8 +31,7 @@
 
 #include <stb_image.h>
 
-#include <cmath>
-#include <stdint.h>
+#include <iostream> // for cerr
 
 #include "generated/resources/resources.h"