diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index cf21c44..1463514 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -403,7 +403,7 @@ endif()
 find_package(PkgConfig QUIET)
 
 file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
-if(WIN32 AND NOT MINGW)
+if(0)
 # PCLConfig.cmake is installed to PCL_ROOT/cmake
   get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
   if(EXISTS "${PCL_ROOT}/3rdParty")
@@ -425,6 +425,10 @@ elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
   # pcl_message("Found a PCL installation")
   set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
   set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
+  list(APPEND PCL_LIBRARY_DIRS "${PCL_ROOT}/debug/lib")
+  if(NOT DEFINED CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE MATCHES "^[Dd][Ee][Bb][Uu][Gg]$")
+    list(REVERSE PCL_LIBRARY_DIRS)
+  endif()
 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.")
diff --git a/cmake/Modules/FindFLANN.cmake b/cmake/Modules/FindFLANN.cmake
index f42bca3..faca969 100644
--- a/cmake/Modules/FindFLANN.cmake
+++ b/cmake/Modules/FindFLANN.cmake
@@ -85,7 +85,7 @@ if(flann_FOUND)
 
   # Determine FLANN installation root based on the path to the processed Config file
   get_filename_component(_config_dir "${flann_CONFIG}" DIRECTORY)
-  get_filename_component(FLANN_ROOT "${_config_dir}/../../.." ABSOLUTE)
+  get_filename_component(FLANN_ROOT "${_config_dir}/../.." ABSOLUTE)
   unset(_config_dir)
   message(STATUS "Found flann version ${flann_VERSION}")
   return()
diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
index d87d02d..9c0ede1 100644
--- a/cmake/pcl_utils.cmake
+++ b/cmake/pcl_utils.cmake
@@ -100,6 +100,7 @@ macro(SET_INSTALL_DIRS)
     else()
       set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
     endif()
+    set(INCLUDE_INSTALL_ROOT "include")
     set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
     set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
     set(BIN_INSTALL_DIR "bin")
@@ -109,6 +110,7 @@ macro(SET_INSTALL_DIRS)
       else()
         set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
       endif()
+    set(PCLCONFIG_INSTALL_DIR "share/pcl")
 endmacro()
 
 
diff --git a/cmake/pkgconfig.cmake.in b/cmake/pkgconfig.cmake.in
index c351e44..b10577a 100644
--- a/cmake/pkgconfig.cmake.in
+++ b/cmake/pkgconfig.cmake.in
@@ -3,7 +3,7 @@ prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
 libdir=${prefix}/@LIB_INSTALL_DIR@
 #includedir=${prefix}/@INCLUDE_INSTALL_DIR@
-includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@
+includedir=${prefix}/@INCLUDE_INSTALL_DIR@
 Name: @PKG_NAME@
 Description: @PKG_DESC@
 Version: @PCL_VERSION@