diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9d8718f6ae..939ee12674 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -769,6 +769,11 @@ else()
 endif()
 status("    Precompiled headers:"     PCHSupport_FOUND AND ENABLE_PRECOMPILED_HEADERS THEN YES ELSE NO)
 
+# ========================== Dependencies ============================
+ocv_get_all_libs(deps_modules deps_extra deps_3rdparty)
+status("    Extra dependencies:" ${deps_extra})
+status("    3rdparty dependencies:" ${deps_3rdparty})
+
 # ========================== OpenCV modules ==========================
 status("")
 status("  OpenCV modules:")
@@ -909,7 +914,7 @@ else()
 endif()
 
 if( WITH_GDAL )
-  status("    GDAL:"   GDAL_FOUND THEN "${GDAL_LIBRARY}")
+  status("    GDAL:"   GDAL_FOUND THEN "${GDAL_LIBRARY}" ELSE "NO")
 else()
   status("    GDAL:"     "NO")
 endif()
diff --git a/cmake/OpenCVGenPkgconfig.cmake b/cmake/OpenCVGenPkgconfig.cmake
index a8686e89cd..28a6da686e 100644
--- a/cmake/OpenCVGenPkgconfig.cmake
+++ b/cmake/OpenCVGenPkgconfig.cmake
@@ -8,71 +8,82 @@
 #
 # ${BIN_DIR}/unix-install/opencv.pc -> For use *with* "make install"
 # -------------------------------------------------------------------------------------------
-set(prefix      "${CMAKE_INSTALL_PREFIX}")
-set(exec_prefix "\${prefix}")
-set(libdir      "") #TODO: need link paths for OpenCV_EXTRA_COMPONENTS
-set(includedir  "\${prefix}/${OPENCV_INCLUDE_INSTALL_PATH}")
 
-if(CMAKE_BUILD_TYPE MATCHES "Release")
-  set(ocv_optkind OPT)
-else()
-  set(ocv_optkind DBG)
-endif()
+macro(fix_prefix lst isown)
+  set(_lst)
+  foreach(item ${${lst}})
+    if(TARGET ${item})
+      get_target_property(item "${item}" LOCATION_${CMAKE_BUILD_TYPE})
+      if("${isown}")
+        get_filename_component(item "${item}" NAME_WE)
+        string(REGEX REPLACE "^lib(.*)" "\\1" item "${item}")
+      endif()
+    endif()
+    if(item MATCHES "^-l")
+      list(APPEND _lst "${item}")
+    elseif(item MATCHES "[\\/]")
+      get_filename_component(libdir "${item}" PATH)
+      get_filename_component(libname "${item}" NAME_WE)
+      string(REGEX REPLACE "^lib(.*)" "\\1" libname "${libname}")
+      list(APPEND _lst "-L${libdir}" "-l${libname}")
+    else()
+      list(APPEND _lst "-l${item}")
+    endif()
+  endforeach()
+  set(${lst} ${_lst})
+  unset(_lst)
+endmacro()
 
-#build the list of opencv libs and dependencies for all modules
-set(OpenCV_LIB_COMPONENTS "")
-set(OpenCV_EXTRA_COMPONENTS "")
-foreach(m ${OPENCV_MODULES_PUBLIC})
-  list(INSERT OpenCV_LIB_COMPONENTS 0 ${${m}_MODULE_DEPS_${ocv_optkind}} ${m})
-  if(${m}_EXTRA_DEPS_${ocv_optkind})
-    list(INSERT OpenCV_EXTRA_COMPONENTS 0 ${${m}_EXTRA_DEPS_${ocv_optkind}})
-  endif()
-endforeach()
-
-ocv_list_unique(OpenCV_LIB_COMPONENTS)
-ocv_list_unique(OpenCV_EXTRA_COMPONENTS)
-ocv_list_reverse(OpenCV_LIB_COMPONENTS)
-ocv_list_reverse(OpenCV_EXTRA_COMPONENTS)
+# build the list of opencv libs and dependencies for all modules
+ocv_get_all_libs(_modules _extra _3rdparty)
 
 #build the list of components
-set(OpenCV_LIB_COMPONENTS_ "")
-foreach(CVLib ${OpenCV_LIB_COMPONENTS})
-  if (TARGET ${CVLib})
-  get_target_property(libpath ${CVLib} LOCATION_${CMAKE_BUILD_TYPE})
-  get_filename_component(libname "${libpath}" NAME)
 
-  if(INSTALL_TO_MANGLED_PATHS)
-    set(libname "${libname}.${OPENCV_VERSION}")
-  endif()
+# Note:
+#   when linking against static libraries, if libfoo depends on libbar, then
+#   libfoo must come first in the linker flags.
 
-  #need better solution....
-  if(libpath MATCHES "3rdparty")
-    set(installDir "share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH}")
-  else()
-    set(installDir "${OPENCV_LIB_INSTALL_PATH}")
-  endif()
-
-  set(OpenCV_LIB_COMPONENTS_ "${OpenCV_LIB_COMPONENTS_} \${exec_prefix}/${installDir}/${libname}")
-  endif()
-endforeach()
-
-# add extra dependencies required for OpenCV
-set(OpenCV_LIB_COMPONENTS ${OpenCV_LIB_COMPONENTS_})
-if(OpenCV_EXTRA_COMPONENTS)
-  foreach(extra_component ${OpenCV_EXTRA_COMPONENTS})
-
-    if(extra_component MATCHES "^-[lL]" OR extra_component MATCHES "[\\/]")
-      set(maybe_l_prefix "")
-    else()
-      set(maybe_l_prefix "-l")
-    endif()
-
-    set(OpenCV_LIB_COMPONENTS "${OpenCV_LIB_COMPONENTS} ${maybe_l_prefix}${extra_component}")
-
-  endforeach()
+# world and contrib_world are special targets whose library should come first,
+# especially for static link.
+if(_modules MATCHES "opencv_world")
+  set(_modules "opencv_world")
 endif()
 
+if(_modules MATCHES "opencv_contrib_world")
+  list(REMOVE_ITEM _modules "opencv_contrib_world")
+  list(INSERT _modules 0 "opencv_contrib_world")
+endif()
+
+fix_prefix(_modules TRUE)
+fix_prefix(_extra FALSE)
+fix_prefix(_3rdparty TRUE)
+
+ocv_list_unique(_modules)
+ocv_list_unique(_extra)
+ocv_list_unique(_3rdparty)
+
+set(OPENCV_PC_LIBS
+  "-L\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}"
+  "${_modules}"
+)
+if (BUILD_SHARED_LIBS)
+  set(OPENCV_PC_LIBS_PRIVATE "${_extra}")
+else()
+  set(OPENCV_PC_LIBS_PRIVATE
+    "-L\${exec_prefix}/${OPENCV_3P_LIB_INSTALL_PATH}"
+    "${_3rdparty}"
+    "${_extra}"
+  )
+endif()
+string(REPLACE ";" " " OPENCV_PC_LIBS "${OPENCV_PC_LIBS}")
+string(REPLACE ";" " " OPENCV_PC_LIBS_PRIVATE "${OPENCV_PC_LIBS_PRIVATE}")
+
 #generate the .pc file
+set(prefix      "${CMAKE_INSTALL_PREFIX}")
+set(exec_prefix "\${prefix}")
+set(libdir      "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
+set(includedir  "\${prefix}/${OPENCV_INCLUDE_INSTALL_PATH}")
+
 if(INSTALL_TO_MANGLED_PATHS)
   set(OPENCV_PC_FILE_NAME "opencv-${OPENCV_VERSION}.pc")
 else()
diff --git a/cmake/OpenCVUtils.cmake b/cmake/OpenCVUtils.cmake
index e7d60beb9b..3e2ea8a7a4 100644
--- a/cmake/OpenCVUtils.cmake
+++ b/cmake/OpenCVUtils.cmake
@@ -796,11 +796,19 @@ macro(ocv_get_all_libs _modules _extra _3rdparty)
   set(${_3rdparty} "")
   foreach(m ${OPENCV_MODULES_PUBLIC})
     get_target_property(deps ${m} INTERFACE_LINK_LIBRARIES)
+    if(NOT deps)
+      set(deps "")
+    endif()
     list(INSERT ${_modules} 0 ${deps} ${m})
     foreach (dep ${deps} ${OPENCV_LINKER_LIBS})
       if (NOT DEFINED OPENCV_MODULE_${dep}_LOCATION)
         if (TARGET ${dep})
-          list(INSERT ${_3rdparty} 0 ${dep})
+          get_target_property(_output ${dep} ARCHIVE_OUTPUT_DIRECTORY)
+          if ("${_output}" STREQUAL "${3P_LIBRARY_OUTPUT_PATH}")
+            list(INSERT ${_3rdparty} 0 ${dep})
+          else()
+            list(INSERT ${_extra} 0 ${dep})
+          endif()
         else()
           list(INSERT ${_extra} 0 ${dep})
         endif()
@@ -808,6 +816,13 @@ macro(ocv_get_all_libs _modules _extra _3rdparty)
     endforeach()
   endforeach()
 
+  # ippicv specific handling
+  list(FIND ${_extra} "ippicv" ippicv_idx)
+  if (${ippicv_idx} GREATER -1)
+    list(REMOVE_ITEM ${_extra} "ippicv")
+    list(INSERT ${_3rdparty} 0 "ippicv")
+  endif()
+
   # split 3rdparty libs and modules
   list(REMOVE_ITEM ${_modules} ${${_3rdparty}} ${${_extra}})
 
diff --git a/cmake/templates/opencv-XXX.pc.in b/cmake/templates/opencv-XXX.pc.in
index 5b94e4d6c3..04d675af16 100644
--- a/cmake/templates/opencv-XXX.pc.in
+++ b/cmake/templates/opencv-XXX.pc.in
@@ -9,5 +9,6 @@ includedir_new=@includedir@
 Name: OpenCV
 Description: Open Source Computer Vision Library
 Version: @OPENCV_VERSION_PLAIN@
-Libs: @OpenCV_LIB_COMPONENTS@
+Libs: @OPENCV_PC_LIBS@
+Libs.private: @OPENCV_PC_LIBS_PRIVATE@
 Cflags: -I${includedir_old} -I${includedir_new}
diff --git a/modules/highgui/CMakeLists.txt b/modules/highgui/CMakeLists.txt
index 2a6f0b1d8c..0b7f8fe526 100644
--- a/modules/highgui/CMakeLists.txt
+++ b/modules/highgui/CMakeLists.txt
@@ -3,7 +3,7 @@ if (WINRT)
 endif()
 
 set(the_description "High-level GUI and Media I/O")
-ocv_add_module(highgui opencv_imgproc opencv_imgcodecs opencv_videoio OPTIONAL opencv_androidcamera WRAP python)
+ocv_add_module(highgui opencv_imgproc opencv_imgcodecs opencv_videoio WRAP python)
 
 # ----------------------------------------------------------------------------
 #  CMake file for highgui. See root CMakeLists.txt
diff --git a/modules/ts/CMakeLists.txt b/modules/ts/CMakeLists.txt
index 9d1e40c9c3..c0158ba416 100644
--- a/modules/ts/CMakeLists.txt
+++ b/modules/ts/CMakeLists.txt
@@ -9,7 +9,7 @@ set(OPENCV_MODULE_IS_PART_OF_WORLD FALSE)
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
 
-ocv_add_module(ts opencv_core opencv_imgproc opencv_imgcodecs opencv_videoio opencv_highgui)
+ocv_add_module(ts INTERNAL opencv_core opencv_imgproc opencv_imgcodecs opencv_videoio opencv_highgui)
 
 ocv_glob_module_sources()
 ocv_module_include_directories()
diff --git a/samples/cpp/example_cmake/Makefile b/samples/cpp/example_cmake/Makefile
new file mode 100644
index 0000000000..f72911571f
--- /dev/null
+++ b/samples/cpp/example_cmake/Makefile
@@ -0,0 +1,12 @@
+CXX ?= g++
+
+CXXFLAGS += -c -Wall $(shell pkg-config --cflags opencv)
+LDFLAGS += $(shell pkg-config --libs --static opencv)
+
+all: opencv_example
+
+opencv_example: example.o; $(CXX) $< -o $@ $(LDFLAGS)
+
+%.o: %.cpp; $(CXX) $< -o $@ $(CXXFLAGS)
+
+clean: ; rm -f example.o opencv_example