diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt
index e706ca4e7a6..f90465f7717 100644
--- a/2d/CMakeLists.txt
+++ b/2d/CMakeLists.txt
@@ -32,6 +32,9 @@ set(impl_incs
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY)
 
 #Install include files
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cee13e6a8e6..7db2c294106 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -246,6 +246,7 @@ if(WIN32)
   set(PCL_POINTCLOUDS_DIR "${PCL_RESOURCES_DIR}/pointclouds")
 endif()
 
+#Set up output directory for builds
 set(PCL_OUTPUT_LIB_DIR "${PCL_BINARY_DIR}/${LIB_INSTALL_DIR}")
 set(PCL_OUTPUT_BIN_DIR "${PCL_BINARY_DIR}/${BIN_INSTALL_DIR}")
 make_directory("${PCL_OUTPUT_LIB_DIR}")
@@ -274,6 +275,7 @@ if(CMAKE_GENERATOR_IS_IDE)
 else()
   set(UNINSTALL_TARGET_NAME uninstall)
 endif()
+
 configure_file("${PCL_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
                "${PCL_BINARY_DIR}/uninstall_target.cmake" IMMEDIATE @ONLY)
 add_custom_target(${UNINSTALL_TARGET_NAME} "${CMAKE_COMMAND}" -P
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index 98f9bcef95c..e7e7c277269 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -12,17 +12,13 @@
 #                                   www.pointclouds.org
 #------------------------------------------------------------------------------------
 
-# Set default policy behavior similar to minimum requirement version
-cmake_policy(VERSION 3.10)
-
-# explicitly set policies we already support in newer cmake versions
-if(POLICY CMP0074)
-  # TODO: update *_ROOT variables to be PCL_*_ROOT or equivalent.
-  # CMP0074 directly affects how Find* modules work and *_ROOT variables.  Since
-  # this is a config file that will be consumed by parent projects with (likely)
-  # NEW behavior, we need to push a policy stack.
-  cmake_policy(SET CMP0074 NEW)
-endif()
+include(CMakeFindDependencyMacro)
+
+set(PCL_VERSION @CMAKE_PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+set_and_check(PCL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
 
@@ -48,44 +44,6 @@ macro(pcl_message)
   endif()
 endmacro()
 
-# Remove duplicate libraries
-macro(pcl_remove_duplicate_libraries _unfiltered_libraries _filtered_libraries)
-  set(${_filtered_libraries})
-  set(_debug_libraries)
-  set(_optimized_libraries)
-  set(_other_libraries)
-  set(_waiting_for_debug 0)
-  set(_waiting_for_optimized 0)
-  set(_library_position -1)
-  foreach(library ${${_unfiltered_libraries}})
-    if("${library}" STREQUAL "debug")
-      set(_waiting_for_debug 1)
-    elseif("${library}" STREQUAL "optimized")
-      set(_waiting_for_optimized 1)
-    elseif(_waiting_for_debug)
-      list(FIND _debug_libraries "${library}" library_position)
-      if(library_position EQUAL -1)
-        list(APPEND ${_filtered_libraries} debug ${library})
-        list(APPEND _debug_libraries ${library})
-      endif()
-      set(_waiting_for_debug 0)
-    elseif(_waiting_for_optimized)
-      list(FIND _optimized_libraries "${library}" library_position)
-      if(library_position EQUAL -1)
-        list(APPEND ${_filtered_libraries} optimized ${library})
-        list(APPEND _optimized_libraries ${library})
-      endif()
-      set(_waiting_for_optimized 0)
-    else()
-      list(FIND _other_libraries "${library}" library_position)
-      if(library_position EQUAL -1)
-        list(APPEND ${_filtered_libraries} ${library})
-        list(APPEND _other_libraries ${library})
-      endif()
-    endif()
-  endforeach()
-endmacro()
-
 ### ---[ 3rd party libraries
 macro(find_boost)
   if(PCL_ALL_IN_ONE_INSTALLER)
@@ -93,7 +51,7 @@ macro(find_boost)
   elseif(NOT BOOST_INCLUDEDIR)
     set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
   endif()
-
+  
   include(${CMAKE_CURRENT_LIST_DIR}/Modules/AdditionalBoostVersions.cmake)
   set(Boost_ADDITIONAL_VERSIONS "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@" ${Boost_ADDITIONAL_VERSIONS})
   
@@ -315,6 +273,7 @@ function(find_external_library _component _lib _is_optional)
   string(TOUPPER "${_component}" COMPONENT)
   string(TOUPPER "${_lib}" LIB)
   string(REGEX REPLACE "[.-]" "_" LIB ${LIB})
+  
   if(${LIB}_FOUND)
     list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${${LIB}_INCLUDE_DIRS})
     set(PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${COMPONENT}_INCLUDE_DIRS} PARENT_SCOPE)
@@ -324,22 +283,6 @@ function(find_external_library _component _lib _is_optional)
         set(ISVTK9ORGREATER TRUE)
       endif()
     endif()
-    
-    if(${LIB}_USE_FILE AND NOT ISVTK9ORGREATER )
-      include(${${LIB}_USE_FILE})
-    else()
-      list(APPEND PCL_${COMPONENT}_LIBRARY_DIRS "${${LIB}_LIBRARY_DIRS}")
-      set(PCL_${COMPONENT}_LIBRARY_DIRS ${PCL_${COMPONENT}_LIBRARY_DIRS} PARENT_SCOPE)
-    endif()
-    if(${LIB}_LIBRARIES)
-      list(APPEND PCL_${COMPONENT}_LINK_LIBRARIES "${${LIB}_LIBRARIES}")
-      set(PCL_${COMPONENT}_LINK_LIBRARIES ${PCL_${COMPONENT}_LINK_LIBRARIES} PARENT_SCOPE)
-      set(PCL_${LIB}_LIBRARIES ${${LIB}_LIBRARIES} PARENT_SCOPE) # Later appended to PCL_LIBRARIES
-    endif()
-    if(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
-      list(APPEND PCL_${COMPONENT}_DEFINITIONS ${${LIB}_DEFINITIONS})
-      set(PCL_${COMPONENT}_DEFINITIONS ${PCL_${COMPONENT}_DEFINITIONS} PARENT_SCOPE)
-    endif()
   else()
     if("${_is_optional}" STREQUAL "OPTIONAL")
       list(APPEND PCL_${COMPONENT}_DEFINITIONS "-DDISABLE_${LIB}")
@@ -357,9 +300,6 @@ function(find_external_library _component _lib _is_optional)
   endif()
 endfunction()
 
-macro(pcl_check_external_dependency _component)
-endmacro()
-
 #flatten dependencies recursivity is great \o/
 macro(compute_dependencies TO_FIND_COMPONENTS)
   foreach(component ${${TO_FIND_COMPONENTS}})
@@ -388,63 +328,6 @@ macro(compute_dependencies TO_FIND_COMPONENTS)
   endforeach()
 endmacro()
 
-### ---[ Find PCL
-
-if(PCL_FIND_QUIETLY)
-  set(QUIET_ QUIET)
-else()
-  set(QUIET_)
-endif()
-
-find_package(PkgConfig QUIET)
-
-file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
-if(WIN32 AND NOT MINGW)
-# PCLConfig.cmake is installed to PCL_ROOT/cmake
-  get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
-  if(EXISTS "${PCL_ROOT}/3rdParty")
-    set(PCL_ALL_IN_ONE_INSTALLER ON)
-  endif()
-else()
-# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
-  get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
-endif()
-
-# check whether PCLConfig.cmake is found into a PCL installation or in a build tree
-if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
-  # Found a PCL installation
-  # pcl_message("Found a PCL installation")
-  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
-elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
-  # Found a non-standard (likely ANDROID) PCL installation
-  # pcl_message("Found a PCL installation")
-  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
-elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
-  # Found PCLConfig.cmake in a build tree of PCL
-  # pcl_message("PCL found into a build tree.")
-  set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
-  set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
-else()
-  pcl_report_not_found("PCL can not be found on this machine")
-endif()
-
-set(PCL_INCLUDE_DIRS "${PCL_CONF_INCLUDE_DIR}")
-
-#set a suffix for debug libraries
-set(PCL_DEBUG_SUFFIX "@CMAKE_DEBUG_POSTFIX@")
-set(PCL_RELEASE_SUFFIX "@CMAKE_RELEASE_POSTFIX@")
-
-set(PCL_SHARED_LIBS "@PCL_SHARED_LIBS@")
-
-#set SSE flags used compiling PCL
-list(APPEND PCL_DEFINITIONS @PCLCONFIG_SSE_DEFINITIONS@)
-list(APPEND PCL_COMPILE_OPTIONS @PCLCONFIG_SSE_COMPILE_OPTIONS@)
-
-#set AVX flags used compiling PCL
-list(APPEND PCL_COMPILE_OPTIONS @PCLCONFIG_AVX_COMPILE_OPTIONS@)
-
 set(pcl_all_components @PCLCONFIG_AVAILABLE_COMPONENTS@)
 list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
 
@@ -459,10 +342,6 @@ list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
 # VTK components required by PCL
 set(PCL_VTK_COMPONENTS "@PCL_VTK_COMPONENTS@")
 
-set(pcl_header_only_components 2d cuda_common geometry gpu_tracking modeler in_hand_scanner point_cloud_editor cloud_composer)
-
-include(FindPackageHandleStandardArgs)
-
 #check if user provided a list of components
 #if no components at all or full list is given set PCL_FIND_ALL
 if(PCL_FIND_COMPONENTS)
@@ -480,21 +359,6 @@ endif()
 
 compute_dependencies(PCL_TO_FIND_COMPONENTS)
 
-# We do not need to find components that have been found already, e.g. during previous invocation
-# of find_package(PCL). Filter them out.
-foreach(component ${PCL_TO_FIND_COMPONENTS})
-  string(TOUPPER "${component}" COMPONENT)
-  if(NOT PCL_${COMPONENT}_FOUND)
-    list(APPEND _PCL_TO_FIND_COMPONENTS ${component})
-  endif()
-endforeach()
-set(PCL_TO_FIND_COMPONENTS ${_PCL_TO_FIND_COMPONENTS})
-unset(_PCL_TO_FIND_COMPONENTS)
-
-if(NOT PCL_TO_FIND_COMPONENTS)
-  return()
-endif()
-
 # compute external dependencies per component
 foreach(component ${PCL_TO_FIND_COMPONENTS})
     foreach(opt ${pcl_${component}_opt_dep})
@@ -505,183 +369,10 @@ foreach(component ${PCL_TO_FIND_COMPONENTS})
     endforeach()
 endforeach()
 
+set(PCL_LIBRARIES)
 foreach(component ${PCL_TO_FIND_COMPONENTS})
-  set(pcl_component pcl_${component})
-  string(TOUPPER "${component}" COMPONENT)
-
-  pcl_message(STATUS "looking for PCL_${COMPONENT}")
-
-  string(REGEX REPLACE "^cuda_(.*)$" "\\1" cuda_component "${component}")
-  string(REGEX REPLACE "^gpu_(.*)$" "\\1" gpu_component "${component}")
-
-  find_path(PCL_${COMPONENT}_INCLUDE_DIR
-    NAMES pcl/${component}
-          pcl/apps/${component}
-          pcl/cuda/${cuda_component} pcl/cuda/${component}
-          pcl/gpu/${gpu_component} pcl/gpu/${component}
-    HINTS ${PCL_INCLUDE_DIRS}
-    PATH_SUFFIXES
-          ${component}/include
-          apps/${component}/include
-          cuda/${cuda_component}/include
-          gpu/${gpu_component}/include
-    DOC "path to ${component} headers"
-    NO_DEFAULT_PATH)
-  mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIR)
-
-  if(PCL_${COMPONENT}_INCLUDE_DIR)
-    list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS "${PCL_${COMPONENT}_INCLUDE_DIR}")
-  else()
-    #pcl_message("No include directory found for pcl_${component}.")
-  endif()
-
-  set(FPHSA_NAME_MISMATCHED 1) # Suppress warnings, see https://cmake.org/cmake/help/v3.17/module/FindPackageHandleStandardArgs.html
-  # Skip find_library for header only modules
-  list(FIND pcl_header_only_components ${component} _is_header_only)
-  if(_is_header_only EQUAL -1)
-    find_library(PCL_${COMPONENT}_LIBRARY ${pcl_component}${PCL_RELEASE_SUFFIX}
-      HINTS ${PCL_LIBRARY_DIRS}
-      DOC "path to ${pcl_component} library"
-      NO_DEFAULT_PATH)
-    get_filename_component(${component}_library_path
-      ${PCL_${COMPONENT}_LIBRARY}
-      PATH)
-    mark_as_advanced(PCL_${COMPONENT}_LIBRARY)
-
-    find_library(PCL_${COMPONENT}_LIBRARY_DEBUG ${pcl_component}${PCL_DEBUG_SUFFIX}
-      HINTS ${PCL_LIBRARY_DIRS}
-      DOC "path to ${pcl_component} library debug"
-      NO_DEFAULT_PATH)
-    mark_as_advanced(PCL_${COMPONENT}_LIBRARY_DEBUG)
-
-    if(PCL_${COMPONENT}_LIBRARY_DEBUG)
-      get_filename_component(${component}_library_path_debug
-        ${PCL_${COMPONENT}_LIBRARY_DEBUG}
-        PATH)
-    endif()
-
-    # Restrict this to Windows users
-    if(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
-      # might be debug only
-      set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
-    endif()
-
-    find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
-      PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_INCLUDE_DIR)
-  else()
-    find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
-      PCL_${COMPONENT}_INCLUDE_DIR)
-  endif()
-  unset(FPHSA_NAME_MISMATCHED)
-
-  if(PCL_${COMPONENT}_FOUND)
-    if(NOT "${PCL_${COMPONENT}_INCLUDE_DIRS}" STREQUAL "")
-      set(_filtered "")
-      foreach(_inc ${PCL_${COMPONENT}_INCLUDE_DIRS})
-        if(EXISTS ${_inc})
-          list(APPEND _filtered "${_inc}")
-        endif()
-      endforeach()
-      list(REMOVE_DUPLICATES _filtered)
-      set(PCL_${COMPONENT}_INCLUDE_DIRS ${_filtered})
-      list(APPEND PCL_INCLUDE_DIRS ${_filtered})
-    endif()
-    mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIRS)
-    if(_is_header_only EQUAL -1)
-      list(APPEND PCL_DEFINITIONS ${PCL_${COMPONENT}_DEFINITIONS})
-      list(APPEND PCL_LIBRARY_DIRS ${component_library_path})
-      if(PCL_${COMPONENT}_LIBRARY_DEBUG)
-        list(APPEND PCL_LIBRARY_DIRS ${component_library_path_debug})
-      endif()
-      list(APPEND PCL_COMPONENTS ${pcl_component})
-      mark_as_advanced(PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_LIBRARY_DEBUG)
-    endif()
-    # Append internal dependencies
-    foreach(int_dep ${pcl_${component}_int_dep})
-      string(TOUPPER "${int_dep}" INT_DEP)
-      if(PCL_${INT_DEP}_FOUND)
-        list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${INT_DEP}_INCLUDE_DIRS})
-        if(PCL_${INT_DEP}_LIBRARIES)
-          list(APPEND PCL_${COMPONENT}_LINK_LIBRARIES "${PCL_${INT_DEP}_LIBRARIES}")
-        endif()
-      endif()
-    endforeach()
-    if(_is_header_only EQUAL -1)
-      add_library(${pcl_component} @PCL_LIB_TYPE@ IMPORTED)
-      if(PCL_${COMPONENT}_LIBRARY_DEBUG)
-        set_target_properties(${pcl_component}
-          PROPERTIES
-            IMPORTED_CONFIGURATIONS "RELEASE;DEBUG"
-            IMPORTED_LOCATION_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
-            IMPORTED_LOCATION_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
-            IMPORTED_IMPLIB_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
-            IMPORTED_IMPLIB_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
-        )
-      else()
-        set_target_properties(${pcl_component}
-          PROPERTIES
-            IMPORTED_LOCATION "${PCL_${COMPONENT}_LIBRARY}"
-            IMPORTED_IMPLIB "${PCL_${COMPONENT}_LIBRARY}"
-        )
-      endif()
-    else() # header-only
-      add_library(${pcl_component} INTERFACE IMPORTED)
-    endif()
-
-    foreach(def ${PCL_DEFINITIONS})
-      string(REPLACE " " ";" def2 ${def})
-      string(REGEX REPLACE "^-D" "" def3 "${def2}")
-      list(APPEND definitions ${def3})
-    endforeach()
-    if(CMAKE_VERSION VERSION_LESS 3.11)
-      set_target_properties(${pcl_component}
-        PROPERTIES
-          INTERFACE_COMPILE_DEFINITIONS "${definitions}"
-          INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"
-          INTERFACE_COMPILE_FEATURES "@PCL_CXX_COMPILE_FEATURES@"
-          INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS};${PCL_CONF_INCLUDE_DIR}"
-          INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"
-      )
-    else()
-      set_target_properties(${pcl_component}
-        PROPERTIES
-          INTERFACE_COMPILE_DEFINITIONS "${definitions}"
-          INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"
-          INTERFACE_COMPILE_FEATURES "@PCL_CXX_COMPILE_FEATURES@"
-          INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS};${PCL_CONF_INCLUDE_DIR}"
-      )
-      # If possible, we use target_link_libraries to avoid problems with link-type keywords,
-      # see https://github.com/PointCloudLibrary/pcl/issues/2989
-      # target_link_libraries on imported libraries is supported only since CMake 3.11
-      target_link_libraries(${pcl_component} INTERFACE ${PCL_${COMPONENT}_LINK_LIBRARIES})
-    endif()
-    set(PCL_${COMPONENT}_LIBRARIES ${pcl_component})
-  endif()
+  # Add the targets file
+  include("${CMAKE_CURRENT_LIST_DIR}/pcl_${component}.cmake")
+  check_required_components(${component})
+  list(APPEND PCL_LIBRARIES "pcl::pcl_${component}")
 endforeach()
-
-if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
-  list(REMOVE_DUPLICATES PCL_INCLUDE_DIRS)
-endif()
-
-if(NOT "${PCL_LIBRARY_DIRS}" STREQUAL "")
-  list(REMOVE_DUPLICATES PCL_LIBRARY_DIRS)
-endif()
-
-if(NOT "${PCL_DEFINITIONS}" STREQUAL "")
-  list(REMOVE_DUPLICATES PCL_DEFINITIONS)
-endif()
-
-pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
-
-# Add 3rd party libraries, as user code might include our .HPP implementations
-list(APPEND PCL_LIBRARIES ${PCL_BOOST_LIBRARIES} ${PCL_OPENNI_LIBRARIES} ${PCL_OPENNI2_LIBRARIES} ${PCL_ENSENSO_LIBRARIES} ${PCL_davidSDK_LIBRARIES} ${PCL_DSSDK_LIBRARIES} ${PCL_RSSDK_LIBRARIES} ${PCL_RSSDK2_LIBRARIES} ${PCL_VTK_LIBRARIES})
-if (TARGET FLANN::FLANN)
-  list(APPEND PCL_LIBRARIES FLANN::FLANN)
-endif()
-
-if(TARGET QHULL::QHULL)
-    list(APPEND PCL_LIBRARIES QHULL::QHULL)
-endif()
-
-find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
-mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
diff --git a/PCLConfigVersion.cmake.in b/PCLConfigVersion.cmake.in
deleted file mode 100644
index e889ed57570..00000000000
--- a/PCLConfigVersion.cmake.in
+++ /dev/null
@@ -1,13 +0,0 @@
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-
-set(PACKAGE_VERSION @PCL_VERSION@)
-
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()
diff --git a/cmake/pcl_find_cuda.cmake b/cmake/pcl_find_cuda.cmake
index 21aeac2e1dc..fe7f0a4c124 100644
--- a/cmake/pcl_find_cuda.cmake
+++ b/cmake/pcl_find_cuda.cmake
@@ -47,7 +47,7 @@ if(CUDA_FOUND)
     message(STATUS "CMAKE_CUDA_ARCHITECTURES: ${CMAKE_CUDA_ARCHITECTURES}")
     
     #Add empty project as its not required with newer CMake
-    add_library(pcl_cuda INTERFACE)
+    PCL_ADD_LIBRARY(pcl_cuda COMPONENT ekstern_cuda)
   else()
     # Generate SASS
     set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCH_BIN})
@@ -56,7 +56,7 @@ if(CUDA_FOUND)
     set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode arch=compute_${ver},code=compute_${ver}")
     message(STATUS "CMAKE_CUDA_FLAGS: ${CMAKE_CUDA_FLAGS}")
     
-    add_library(pcl_cuda INTERFACE)
+    PCL_ADD_LIBRARY(pcl_cuda COMPONENT ekstern_cuda)
     target_include_directories(pcl_cuda INTERFACE ${CUDA_TOOLKIT_INCLUDE})
     
   endif ()
diff --git a/cmake/pcl_pclconfig.cmake b/cmake/pcl_pclconfig.cmake
index f9941b14355..212e549926d 100644
--- a/cmake/pcl_pclconfig.cmake
+++ b/cmake/pcl_pclconfig.cmake
@@ -93,10 +93,18 @@ if(Boost_SERIALIZATION_FOUND)
   string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " serialization")
 endif()
 
-configure_file("${PCL_SOURCE_DIR}/PCLConfig.cmake.in"
-               "${PCL_BINARY_DIR}/PCLConfig.cmake" @ONLY)
-configure_file("${PCL_SOURCE_DIR}/PCLConfigVersion.cmake.in"
-               "${PCL_BINARY_DIR}/PCLConfigVersion.cmake" @ONLY)
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(PCLConfig.cmake.in
+  ${PCL_BINARY_DIR}/PCLConfig.cmake
+  INSTALL_DESTINATION cmake
+  PATH_VARS INCLUDE_INSTALL_DIR)
+
+write_basic_package_version_file(
+    ${PCL_BINARY_DIR}/PCLConfigVersion.cmake
+    COMPATIBILITY AnyNewerVersion
+    )
+
 install(FILES
         "${PCL_BINARY_DIR}/PCLConfig.cmake"
         "${PCL_BINARY_DIR}/PCLConfigVersion.cmake"
diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
index 2da076c23c5..b66c8dd7e20 100644
--- a/cmake/pcl_targets.cmake
+++ b/cmake/pcl_targets.cmake
@@ -192,38 +192,60 @@ function(PCL_ADD_LIBRARY _name)
     message(FATAL_ERROR "PCL_ADD_LIBRARY requires parameter COMPONENT.")
   endif()
 
-  add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
-  PCL_ADD_VERSION_INFO(${_name})
-  target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})
-
-  target_link_libraries(${_name} Threads::Threads)
-  if(TARGET OpenMP::OpenMP_CXX)
-    target_link_libraries(${_name} OpenMP::OpenMP_CXX)
-  endif()
+  if(NOT ARGS_SOURCES)
+    add_library(${_name} INTERFACE)
+  else()
+    add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
+   
+    target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})
+    
+    target_include_directories(${_name} PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:${INCLUDE_INSTALL_ROOT}> 
+    )
+
+    target_link_libraries(${_name} Threads::Threads)
+
+    if(TARGET OpenMP::OpenMP_CXX)
+      target_link_libraries(${_name} OpenMP::OpenMP_CXX)
+    endif()
 
-  if((UNIX AND NOT ANDROID) OR MINGW)
-    target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
-  endif()
+    if((UNIX AND NOT ANDROID) OR MINGW)
+      target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
+    endif()
 
-  if(MINGW)
-    target_link_libraries(${_name} gomp)
-  endif()
+    if(MINGW)
+      target_link_libraries(${_name} gomp)
+    endif()
 
-  if(MSVC)
-    target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
+    if(MSVC)
+      target_link_libraries(${_name} delayimp.lib)  # because delay load is enabled for openmp.dll
+    endif()
   endif()
+  
+  PCL_ADD_VERSION_INFO(${_name})
 
-  set_target_properties(${_name} PROPERTIES
-    VERSION ${PCL_VERSION}
-    SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-    DEFINE_SYMBOL "PCLAPI_EXPORTS")
-  set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
+  if(ARGS_SOURCES OR CMAKE_VERSION VERSION_GREATER_EQUAL 3.19)
+    set_target_properties(${_name} PROPERTIES
+      VERSION ${PCL_VERSION}
+      SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+      DEFINE_SYMBOL "PCLAPI_EXPORTS")
 
+    set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
+  endif()
   install(TARGETS ${_name}
+          EXPORT ${_name}Targets
           RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT})
 
+  install(
+    EXPORT ${_name}Targets
+    NAMESPACE pcl::
+    FILE ${_name}.cmake
+    DESTINATION ${PCLCONFIG_INSTALL_DIR}
+  )
+
   # Copy PDB if available
   if(MSVC AND ${PCL_LIB_TYPE} EQUAL "SHARED")
     install(FILES $<TARGET_PDB_FILE:${_name}> DESTINATION ${BIN_INSTALL_DIR} OPTIONAL)
@@ -270,9 +292,17 @@ function(PCL_CUDA_ADD_LIBRARY _name)
   set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
 
   install(TARGETS ${_name}
+          EXPORT ${_name}Targets
           RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
           ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT})
+
+  install(
+    EXPORT ${_name}Targets
+    NAMESPACE pcl::
+    FILE ${_name}.cmake
+    DESTINATION ${LIB_INSTALL_DIR}/cmake
+  )        
 endfunction()
 
 ###############################################################################
@@ -911,7 +941,6 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
       message(STATUS "${_description}: not building because ${_name} not found")
     else()
       set(HAVE_${_name_capitalized} TRUE)
-      include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
     endif()
   endif()
 endmacro()
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
index fd449f2eff6..103cdd5b0b4 100644
--- a/common/CMakeLists.txt
+++ b/common/CMakeLists.txt
@@ -174,11 +174,6 @@ set(kissfft_srcs
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${kissfft_srcs} ${incs} ${common_incs} ${impl_incs} ${tools_incs} ${kissfft_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
 
-target_include_directories(${LIB_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include> 
-)
-
 target_link_libraries(${LIB_NAME} Boost::boost Eigen3::Eigen)
 
 if(MSVC AND NOT (MSVC_VERSION LESS 1915))
diff --git a/cuda/io/CMakeLists.txt b/cuda/io/CMakeLists.txt
index 5ddfc90b1b4..52e379d2008 100644
--- a/cuda/io/CMakeLists.txt
+++ b/cuda/io/CMakeLists.txt
@@ -36,7 +36,7 @@ set(incs
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs})
-target_link_libraries(${LIB_NAME} pcl_common)
+target_link_libraries(${LIB_NAME} pcl_common pcl_io)
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${SUBSYS_EXT_DEPS})
 
diff --git a/geometry/CMakeLists.txt b/geometry/CMakeLists.txt
index 0ec3e6fe5b0..d5fe3eb0527 100644
--- a/geometry/CMakeLists.txt
+++ b/geometry/CMakeLists.txt
@@ -39,8 +39,8 @@ set(impl_incs
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 
-add_library(${LIB_NAME} INTERFACE)
-target_include_directories(${LIB_NAME} INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}/include")
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
+
 target_link_libraries(${LIB_NAME} INTERFACE Boost::boost pcl_common)
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY)
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 470796f9a1c..bb0993bd080 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -1,13 +1,13 @@
 set(SUBSYS_NAME io)
 set(SUBSYS_DESC "Point cloud IO library")
-set(SUBSYS_DEPS common octree)
+set(SUBSYS_DEPS common io_ply octree)
 set(SUBSYS_EXT_DEPS boost eigen3)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 if(WIN32)
   PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS})
 else()
-  PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk pcap png vtk libusb OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS})
+  PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP libusb EXT_DEPS ${SUBSYS_EXT_DEPS})
 endif()
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
@@ -195,23 +195,6 @@ if(VTK_FOUND AND NOT ANDROID)
   set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
 endif()
 
-set(PLY_SOURCES src/ply/ply_parser.cpp)
-set(PLY_INCLUDES
-  "include/pcl/${SUBSYS_NAME}/ply/byte_order.h"
-  "include/pcl/${SUBSYS_NAME}/ply/io_operators.h"
-  "include/pcl/${SUBSYS_NAME}/ply/ply.h"
-  "include/pcl/${SUBSYS_NAME}/ply/ply_parser.h"
-)
-
-PCL_ADD_LIBRARY(pcl_io_ply COMPONENT ${SUBSYS_NAME} SOURCES ${PLY_SOURCES} ${PLY_INCLUDES})
-if(MINGW)
-  # libws2_32 isn't added by default for MinGW
-  target_link_libraries(pcl_io_ply ws2_32)
-endif()
-PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
-target_include_directories(pcl_io_ply PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_link_libraries(pcl_io_ply pcl_common Boost::boost)
-
 set(srcs
   src/debayer.cpp
   src/pcd_grabber.cpp
@@ -340,9 +323,8 @@ add_definitions(${VTK_DEFINES})
 
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
 
-target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-
 target_link_libraries("${LIB_NAME}" Boost::boost Boost::iostreams pcl_common pcl_io_ply)
+
 if(TARGET Boost::filesystem)
   target_link_libraries("${LIB_NAME}" Boost::filesystem)
 endif()
@@ -382,10 +364,12 @@ if(LIBUSB_FOUND)
 endif()
 
 if(WITH_OPENNI2)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${OPENNI2_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${OPENNI2_LIBRARIES})
 endif()
 
 if(WITH_OPENNI)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${OPENNI_INCLUDE_DIRS})
   target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
   if(VTK_FOUND AND (NOT ${VTK_VERSION} VERSION_LESS 9.0))
     target_link_libraries("${LIB_NAME}" VTK::FiltersCore VTK::FiltersGeneral)
@@ -393,6 +377,7 @@ if(WITH_OPENNI)
 endif()
 
 if(WITH_FZAPI)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${FZAPI_INCLUDE_DIRS})
   target_link_libraries("${LIB_NAME}" ${FZAPI_LIBS})
   if(WIN32)
   target_link_libraries("${LIB_NAME}" Version.lib)
@@ -400,26 +385,32 @@ if(WITH_FZAPI)
 endif()
 
 if(WITH_ENSENSO)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${ENSENSO_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${ENSENSO_LIBRARIES})
 endif()
 
 if(WITH_DAVIDSDK)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${DAVIDSDK_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${DAVIDSDK_LIBRARIES})
 endif()
 
 if(WITH_DSSDK)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${DSSDK_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${DSSDK_LIBRARIES})
 endif()
 
 if(WITH_RSSDK)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${RSSDK_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${RSSDK_LIBRARIES})
 endif()
 
 if(WITH_RSSDK2)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${RSSDK2_INCLUDE_DIRS})
   target_link_libraries(${LIB_NAME} ${RSSDK2_LIBRARIES})
 endif()
 
 if(PCAP_FOUND)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${PCAP_INCLUDE_DIRS})
   target_link_libraries("${LIB_NAME}" ${PCAP_LIBRARIES})
 endif()
 
diff --git a/io/include/pcl/io/ply_io.h b/io/include/pcl/io/ply_io.h
index 86e540771ae..841ad74481d 100644
--- a/io/include/pcl/io/ply_io.h
+++ b/io/include/pcl/io/ply_io.h
@@ -43,7 +43,7 @@
 #include <pcl/pcl_macros.h>
 #include <pcl/common/io.h> // for copyPointCloud
 #include <pcl/io/file_io.h>
-#include <pcl/io/ply/ply_parser.h>
+#include <pcl/io_ply/ply_parser.h>
 #include <pcl/PolygonMesh.h>
 
 #include <sstream>
diff --git a/io_ply/CMakeLists.txt b/io_ply/CMakeLists.txt
new file mode 100644
index 00000000000..2e66c2ff535
--- /dev/null
+++ b/io_ply/CMakeLists.txt
@@ -0,0 +1,30 @@
+#Helper library
+set(SUBSYS_NAME io_ply)
+set(SUBSYS_DESC "Point cloud IO ply library")
+set(SUBSYS_DEPS common)
+set(SUBSYS_EXT_DEPS boost eigen3)
+
+set(PLY_SOURCES src/ply_parser.cpp)
+set(PLY_INCLUDES
+  "include/pcl/io_ply/byte_order.h"
+  "include/pcl/io_ply/io_operators.h"
+  "include/pcl/io_ply/ply.h"
+  "include/pcl/io_ply/ply_parser.h"
+)
+
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+
+if(NOT build)
+  return()
+endif()
+
+set(LIB_NAME "pcl_${SUBSYS_NAME}")
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${PLY_SOURCES} ${PLY_INCLUDES})
+if(MINGW)
+  # libws2_32 isn't added by default for MinGW
+  target_link_libraries(${LIB_NAME} ws2_32)
+endif()
+PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
+  
+target_link_libraries(${LIB_NAME} pcl_common Boost::boost)
diff --git a/io/include/pcl/io/ply/byte_order.h b/io_ply/include/pcl/io_ply/byte_order.h
similarity index 100%
rename from io/include/pcl/io/ply/byte_order.h
rename to io_ply/include/pcl/io_ply/byte_order.h
diff --git a/io/include/pcl/io/ply/io_operators.h b/io_ply/include/pcl/io_ply/io_operators.h
similarity index 100%
rename from io/include/pcl/io/ply/io_operators.h
rename to io_ply/include/pcl/io_ply/io_operators.h
diff --git a/io/include/pcl/io/ply/ply.h b/io_ply/include/pcl/io_ply/ply.h
similarity index 99%
rename from io/include/pcl/io/ply/ply.h
rename to io_ply/include/pcl/io_ply/ply.h
index f658ed69a88..cfaf88523de 100644
--- a/io/include/pcl/io/ply/ply.h
+++ b/io_ply/include/pcl/io_ply/ply.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <pcl/io/ply/byte_order.h>
+#include <pcl/io_ply/byte_order.h>
 #include <cstdint> // for int8_t, int16_t, ...
 
 /** \file ply.h contains standard typedefs and generic type traits
diff --git a/io/include/pcl/io/ply/ply_parser.h b/io_ply/include/pcl/io_ply/ply_parser.h
similarity index 99%
rename from io/include/pcl/io/ply/ply_parser.h
rename to io_ply/include/pcl/io_ply/ply_parser.h
index 3023d566607..1aeb9c33ad5 100644
--- a/io/include/pcl/io/ply/ply_parser.h
+++ b/io_ply/include/pcl/io_ply/ply_parser.h
@@ -40,8 +40,8 @@
 
 #pragma once
 
-#include <pcl/io/ply/ply.h>
-#include <pcl/io/ply/io_operators.h>
+#include <pcl/io_ply/ply.h>
+#include <pcl/io_ply/io_operators.h>
 #include <pcl/pcl_macros.h>
 
 #include <istream>
diff --git a/io/src/ply/ply_parser.cpp b/io_ply/src/ply_parser.cpp
similarity index 99%
rename from io/src/ply/ply_parser.cpp
rename to io_ply/src/ply_parser.cpp
index 7e79d2d6162..ebdd60a5d90 100644
--- a/io/src/ply/ply_parser.cpp
+++ b/io_ply/src/ply_parser.cpp
@@ -38,7 +38,7 @@
  *
  */
 
-#include <pcl/io/ply/ply_parser.h>
+#include <pcl/io_ply/ply_parser.h>
 
 #include <algorithm> // for find_if
 #include <fstream> // for ifstream
diff --git a/octree/CMakeLists.txt b/octree/CMakeLists.txt
index 5f5a431e928..b48fb08e688 100644
--- a/octree/CMakeLists.txt
+++ b/octree/CMakeLists.txt
@@ -48,9 +48,11 @@ set(impl_incs
 )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+
 target_link_libraries("${LIB_NAME}" pcl_common)
-target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files
diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
index 2cda7232be4..919633ff420 100644
--- a/recognition/CMakeLists.txt
+++ b/recognition/CMakeLists.txt
@@ -158,14 +158,19 @@ else()
 endif()
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
-include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
+
 target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
 
 if(HAVE_METSLIB)
   target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${METSLIB_INCLUDE_DIRS})
 else()
-  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
+  target_include_directories(${LIB_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/pcl/recognition/3rdparty/>
+    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}/recognition/3rdparty/> 
+  )
+
 endif()
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
diff --git a/tools/ply2obj.cpp b/tools/ply2obj.cpp
index df1e4094651..9cc7d9026e3 100644
--- a/tools/ply2obj.cpp
+++ b/tools/ply2obj.cpp
@@ -38,7 +38,7 @@
  *
  */
 
-#include <pcl/io/ply/ply_parser.h>
+#include <pcl/io_ply/ply_parser.h>
 
 #include <cstdlib>
 #include <cstring>
diff --git a/tools/ply2ply.cpp b/tools/ply2ply.cpp
index e749f4b2c69..c54bce1e993 100644
--- a/tools/ply2ply.cpp
+++ b/tools/ply2ply.cpp
@@ -37,7 +37,7 @@
  *
  */
 
-#include <pcl/io/ply/ply_parser.h>
+#include <pcl/io_ply/ply_parser.h>
 
 #include <cstdlib>
 #include <cstring>
diff --git a/tools/ply2raw.cpp b/tools/ply2raw.cpp
index 1fd1f833ab9..edf60b545b0 100644
--- a/tools/ply2raw.cpp
+++ b/tools/ply2raw.cpp
@@ -37,7 +37,7 @@
  *
  */
 
-#include <pcl/io/ply/ply_parser.h>
+#include <pcl/io_ply/ply_parser.h>
 
 #include <cstdlib>
 #include <cstring>