diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39cd00c3aeb..de08f01fcdf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,6 @@
 ### ---[ PCL global CMake
 cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 
-if(POLICY CMP0048)
-  cmake_policy(SET CMP0048 OLD) # do not use VERSION option in project() command
-endif()
-
 if(POLICY CMP0054)
   cmake_policy(SET CMP0054 OLD) # Silent warnings about quoted variables
 endif()
@@ -23,7 +19,7 @@ if("${CMAKE_BUILD_TYPE}" STREQUAL "")
   set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWithDebInfo, set to Release to improve performance" FORCE)
 endif()
 
-project(PCL)
+project(PCL VERSION 1.9.0.99)
 string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 
 ### ---[ Find universal dependencies
@@ -202,7 +198,6 @@ if(CMAKE_COMPILER_IS_CLANG)
 endif()
 
 include("${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake")
-set(PCL_VERSION "1.9.0-dev" CACHE STRING "PCL version")
 DISSECT_VERSION()
 GET_OS_INFO()
 SET_INSTALL_DIRS()
diff --git a/PCLConfigVersion.cmake.in b/PCLConfigVersion.cmake.in
index db85ffea8fb..029804fff2b 100644
--- a/PCLConfigVersion.cmake.in
+++ b/PCLConfigVersion.cmake.in
@@ -1,6 +1,6 @@
 # Check whether the requested PACKAGE_FIND_VERSION is compatible
 
-set(PACKAGE_VERSION @PCL_VERSION_PLAIN@)
+set(PACKAGE_VERSION @PCL_VERSION@)
 
 # Check whether the requested PACKAGE_FIND_VERSION is compatible
 if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
diff --git a/cmake/cpack_options.cmake.in b/cmake/cpack_options.cmake.in
index 5e716d9426d..3251694df69 100644
--- a/cmake/cpack_options.cmake.in
+++ b/cmake/cpack_options.cmake.in
@@ -1,14 +1,14 @@
 set(CPACK_PACKAGE_NAME "@PROJECT_NAME@")
 set(CPACK_PACKAGE_VENDOR "PointClouds.org")
 set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Point Cloud Library (PCL)")
-set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME@ @PCL_VERSION@")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME@ @PCL_VERSION_PRETTY@")
 set(CPACK_RESOURCE_FILE_LICENSE "@PROJECT_SOURCE_DIR@/LICENSE.txt")
 set(CPACK_RESOURCE_FILE_README "@PROJECT_SOURCE_DIR@/AUTHORS.txt")
 
 @PCL_CPACK_COMPONENTS@
 
 IF ((WIN32 OR UNIX) AND (CPACK_GENERATOR STREQUAL "NSIS"))
-    set(CPACK_NSIS_DISPLAY_NAME "@PROJECT_NAME@-@PCL_VERSION@")
+    set(CPACK_NSIS_DISPLAY_NAME "@PROJECT_NAME@-@PCL_VERSION_PRETTY@")
     set(CPACK_NSIS_MUI_ICON "@PROJECT_SOURCE_DIR@/cmake/images/pcl.ico")
     set(CPACK_NSIS_MUI_UNIICON "@PROJECT_SOURCE_DIR@/cmake/images/pcl.ico")
     set(CPACK_NSIS_HELP_LINK "http://www.pointclouds.org")
@@ -16,9 +16,9 @@ IF ((WIN32 OR UNIX) AND (CPACK_GENERATOR STREQUAL "NSIS"))
     set(CPACK_NSIS_MODIFY_PATH ON)
     set(CPACK_PACKAGE_EXECUTABLES @PCL_EXECUTABLES@)
     set(CPACK_NSIS_MENU_LINKS 
-            "share/doc/pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@/tutorials/html/index.html" "Tutorials"
-            "share/doc/pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@/tutorials/html/sources" "Tutorials sources"
-            "share/doc/pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@/html/pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@.chm" "Documentation"
+            "share/doc/pcl-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@/tutorials/html/index.html" "Tutorials"
+            "share/doc/pcl-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@/tutorials/html/sources" "Tutorials sources"
+            "share/doc/pcl-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@/html/pcl-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@.chm" "Documentation"
             "http://www.pointclouds.org" "PCL Website")
     #set(CPACK_NSIS_MENU_LINKS "share/doc/@PROJECT_NAME@/user_guide.pdf" "User's guide")
     #set(CPACK_NSIS_MENU_LINKS "share/doc/@PROJECT_NAME@/developer_guide.pdf" "Developer's guide")
diff --git a/cmake/pcl_cpack.cmake b/cmake/pcl_cpack.cmake
index 8869279f127..8ebcfea998e 100644
--- a/cmake/pcl_cpack.cmake
+++ b/cmake/pcl_cpack.cmake
@@ -9,10 +9,10 @@
 #  list(APPEND CPACK_GENERATOR "RPM")
 #endif(EXISTS ${RPM_PROGRAM})
 
-set(CPACK_PACKAGE_VERSION "${PCL_VERSION}")
-set(CPACK_PACKAGE_VERSION_MAJOR "${PCL_MAJOR_VERSION}")
-set(CPACK_PACKAGE_VERSION_MINOR "${PCL_MINOR_VERSION}")
-set(CPACK_PACKAGE_VERSION_PATCH "${PCL_REVISION_VERSION}")
+set(CPACK_PACKAGE_VERSION "${PCL_VERSION_PRETTY}")
+set(CPACK_PACKAGE_VERSION_MAJOR "${PCL_VERSION_MAJOR}")
+set(CPACK_PACKAGE_VERSION_MINOR "${PCL_VERSION_MINOR}")
+set(CPACK_PACKAGE_VERSION_PATCH "${PCL_VERSION_PATCH}")
 set(CPACK_PACKAGE_CONFIG_INSTALL_DIR ${PCLCONFIG_INSTALL_DIR})
 
 # DEB
@@ -33,9 +33,9 @@ if(WIN32)
     set(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES32")
     set(win_system_name win32)
   endif(CMAKE_CL_64)
-  set(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}-${PCL_VERSION}")
+  set(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}-${PCL_VERSION_PRETTY}")
   if(BUILD_all_in_one_installer)
-    set(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}-${PCL_VERSION}-AllInOne")
+    set(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}-${PCL_VERSION_PRETTY}-AllInOne")
   endif(BUILD_all_in_one_installer)
   if(MSVC_VERSION EQUAL 1600)
     set(CPACK_NSIS_PACKAGE_NAME "${CPACK_NSIS_PACKAGE_NAME}-msvc2010-${win_system_name}")
@@ -54,7 +54,7 @@ if(WIN32)
   # force CPACK_PACKAGE_INSTALL_REGISTRY_KEY because of a known limitation in cmake/cpack to be fixed in next releases
   # http://public.kitware.com/Bug/view.php?id=9094
   # This is to allow a 32bit and a 64bit of PCL to get installed on one system
-  set(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "${PROJECT_NAME} ${PCL_VERSION} ${win_system_name}" )
+  set(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "${PROJECT_NAME} ${PCL_VERSION_PRETTY} ${win_system_name}" )
 endif()
 
 # dpkg
diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
index 22049d262f0..ff9ea2b05a8 100644
--- a/cmake/pcl_targets.cmake
+++ b/cmake/pcl_targets.cmake
@@ -207,8 +207,8 @@ macro(PCL_ADD_LIBRARY _name _component)
 	endif()
 
     set_target_properties(${_name} PROPERTIES
-        VERSION ${PCL_VERSION_PLAIN}
-        SOVERSION ${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}
+        VERSION ${PCL_VERSION}
+        SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
         DEFINE_SYMBOL "PCLAPI_EXPORTS")
     if(USE_PROJECT_FOLDERS)
       set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
@@ -240,8 +240,8 @@ macro(PCL_CUDA_ADD_LIBRARY _name _component)
     target_link_libraries(${_name} ${Boost_LIBRARIES})
 
     set_target_properties(${_name} PROPERTIES
-        VERSION ${PCL_VERSION_PLAIN}
-        SOVERSION ${PCL_MAJOR_VERSION}
+        VERSION ${PCL_VERSION}
+        SOVERSION ${PCL_VERSION_MAJOR}
         DEFINE_SYMBOL "PCLAPI_EXPORTS")
     if(USE_PROJECT_FOLDERS)
       set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
@@ -468,14 +468,14 @@ macro(PCL_MAKE_PKGCONFIG _name _component _desc _pcl_deps _ext_deps _int_deps _c
     LIST_TO_STRING(_ext_deps_str "${_ext_deps}")
     set(PKG_EXTERNAL_DEPS ${_ext_deps_str})
     foreach(_dep ${_pcl_deps})
-      set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} pcl_${_dep}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+      set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} pcl_${_dep}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
     endforeach(_dep)
     set(PKG_INTERNAL_DEPS "")
     foreach(_dep ${_int_deps})
         set(PKG_INTERNAL_DEPS "${PKG_INTERNAL_DEPS} -l${_dep}")
     endforeach(_dep)
 
-    set(_pc_file ${CMAKE_CURRENT_BINARY_DIR}/${_name}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}.pc)
+    set(_pc_file ${CMAKE_CURRENT_BINARY_DIR}/${_name}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}.pc)
     configure_file(${PROJECT_SOURCE_DIR}/cmake/pkgconfig.cmake.in ${_pc_file}
         @ONLY)
     install(FILES ${_pc_file} DESTINATION ${PKGCFG_INSTALL_DIR}
@@ -503,13 +503,13 @@ set(PKG_CFLAGS ${_cflags})
 LIST_TO_STRING(_ext_deps_str "${_ext_deps}")
 set(PKG_EXTERNAL_DEPS ${_ext_deps_str})
 foreach(_dep ${_pcl_deps})
-set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} pcl_${_dep}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} pcl_${_dep}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
 endforeach(_dep)
 set(PKG_INTERNAL_DEPS "")
 foreach(_dep ${_int_deps})
 set(PKG_INTERNAL_DEPS "${PKG_INTERNAL_DEPS} -l${_dep}")
 endforeach(_dep)
-set(_pc_file ${CMAKE_CURRENT_BINARY_DIR}/${_name}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}.pc)
+set(_pc_file ${CMAKE_CURRENT_BINARY_DIR}/${_name}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}.pc)
 configure_file(${PROJECT_SOURCE_DIR}/cmake/pkgconfig-headeronly.cmake.in ${_pc_file} @ONLY)
 install(FILES ${_pc_file} DESTINATION ${PKGCFG_INSTALL_DIR}
 COMPONENT pcl_${_component})
diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
index 41a64a26984..b1260c55ef8 100644
--- a/cmake/pcl_utils.cmake
+++ b/cmake/pcl_utils.cmake
@@ -59,19 +59,13 @@ endmacro(REMOVE_VTK_DEFINITIONS)
 ###############################################################################
 # Pull the component parts out of the version number.
 macro(DISSECT_VERSION)
-    # Find version components
-    string(REGEX REPLACE "^([0-9]+).*" "\\1"
-        PCL_MAJOR_VERSION "${PCL_VERSION}")
-    string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1"
-        PCL_MINOR_VERSION "${PCL_VERSION}")
-    string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1"
-        PCL_REVISION_VERSION "${PCL_VERSION}")
-    set(PCL_VERSION_PLAIN "${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}.${PCL_REVISION_VERSION}")
-    if(${PCL_VERSION} MATCHES "^[0-9]+\\.[0-9]+\\.[0-9]+-dev$")
+    # Detect if we're in a developlment version and generate pretty version string
+    if(${PCL_VERSION_TWEAK} EQUAL 99)
         set(PCL_DEV_VERSION 1)
-        set(PCL_VERSION_PLAIN "${PCL_VERSION_PLAIN}.99")
+        set(PCL_VERSION_PRETTY "${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}.${PCL_VERSION_PATCH}-dev")
     else()
         set(PCL_DEV_VERSION 0)
+        set(PCL_VERSION_PRETTY "${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}.${PCL_VERSION_PATCH}")
     endif()
 endmacro(DISSECT_VERSION)
 
@@ -105,18 +99,18 @@ macro(SET_INSTALL_DIRS)
   endif (NOT DEFINED LIB_INSTALL_DIR)
     if(NOT ANDROID)
       set(INCLUDE_INSTALL_ROOT
-          "include/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+          "include/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
     else(NOT ANDROID)
       set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
     endif(NOT ANDROID)
     set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
-    set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+    set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
     set(BIN_INSTALL_DIR "bin")
     set(PKGCFG_INSTALL_DIR "${LIB_INSTALL_DIR}/pkgconfig")
     if(WIN32 AND NOT MINGW)
         set(PCLCONFIG_INSTALL_DIR "cmake")
       else(WIN32 AND NOT MINGW)
-        set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+        set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
       endif(WIN32 AND NOT MINGW)
 endmacro(SET_INSTALL_DIRS)
 
diff --git a/cmake/pkgconfig-headeronly.cmake.in b/cmake/pkgconfig-headeronly.cmake.in
index b543e312a3b..950fa785c25 100644
--- a/cmake/pkgconfig-headeronly.cmake.in
+++ b/cmake/pkgconfig-headeronly.cmake.in
@@ -3,10 +3,10 @@ prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
 libdir=${prefix}/@LIB_INSTALL_DIR@
 #includedir=${prefix}/@INCLUDE_INSTALL_DIR@
-includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@
+includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@
 Name: @PKG_NAME@
 Description: @PKG_DESC@
-Version: @PCL_VERSION_PLAIN@
+Version: @PCL_VERSION@
 Requires: @PKG_EXTERNAL_DEPS@
 Libs: 
 Cflags: -I${includedir} @PKG_CFLAGS@
diff --git a/cmake/pkgconfig.cmake.in b/cmake/pkgconfig.cmake.in
index 6798be957c7..c351e441a15 100644
--- a/cmake/pkgconfig.cmake.in
+++ b/cmake/pkgconfig.cmake.in
@@ -3,10 +3,10 @@ prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
 libdir=${prefix}/@LIB_INSTALL_DIR@
 #includedir=${prefix}/@INCLUDE_INSTALL_DIR@
-includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@
+includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@
 Name: @PKG_NAME@
 Description: @PKG_DESC@
-Version: @PCL_VERSION_PLAIN@
+Version: @PCL_VERSION@
 Requires: @PKG_EXTERNAL_DEPS@
 Libs: -L${libdir} -l@PKG_NAME@ @PKG_LIBFLAGS@ @PKG_INTERNAL_DEPS@
 Cflags: -I${includedir} @PKG_CFLAGS@
diff --git a/doc/doxygen/doxyfile.in b/doc/doxygen/doxyfile.in
index e2047862511..b3069936038 100644
--- a/doc/doxygen/doxyfile.in
+++ b/doc/doxygen/doxyfile.in
@@ -3,7 +3,7 @@
 #---------------------------------------------------------------------------
 DOXYFILE_ENCODING      = UTF-8
 PROJECT_NAME           = "Point Cloud Library (PCL)"
-PROJECT_NUMBER         = @PCL_VERSION@
+PROJECT_NUMBER         = @PCL_VERSION_PRETTY@
 PROJECT_BRIEF          =
 PROJECT_LOGO           =
 OUTPUT_DIRECTORY       = "@CMAKE_CURRENT_BINARY_DIR@"
@@ -178,7 +178,7 @@ DOCSET_BUNDLE_ID       = pointclouds.org
 DOCSET_PUBLISHER_ID    = pointclouds.org.Publisher
 DOCSET_PUBLISHER_NAME  = Point Cloud Library (PCL) Development Team
 GENERATE_HTMLHELP      = @DOCUMENTATION_HTML_HELP@
-CHM_FILE               = "pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@.chm"
+CHM_FILE               = "pcl-@PCL_VERSION_MAJOR@.@PCL_VERSION_MINOR@.chm"
 HHC_LOCATION           = "@HTML_HELP_COMPILER@"
 GENERATE_CHI           = NO
 CHM_INDEX_ENCODING     = 
diff --git a/pcl_config.h.in b/pcl_config.h.in
index a654294f7be..03650f0e24e 100644
--- a/pcl_config.h.in
+++ b/pcl_config.h.in
@@ -2,11 +2,11 @@
 
 #define BUILD_@CMAKE_BUILD_TYPE@
 /* PCL version information */
-#define PCL_MAJOR_VERSION ${PCL_MAJOR_VERSION}
-#define PCL_MINOR_VERSION ${PCL_MINOR_VERSION}
-#define PCL_REVISION_VERSION ${PCL_REVISION_VERSION}
+#define PCL_MAJOR_VERSION ${PCL_VERSION_MAJOR}
+#define PCL_MINOR_VERSION ${PCL_VERSION_MINOR}
+#define PCL_REVISION_VERSION ${PCL_VERSION_PATCH}
 #define PCL_DEV_VERSION ${PCL_DEV_VERSION}
-#define PCL_VERSION_PRETTY "${PCL_VERSION}"
+#define PCL_VERSION_PRETTY "${PCL_VERSION_PRETTY}"
 #define PCL_VERSION_CALC(MAJ, MIN, PATCH) (MAJ*100000+MIN*100+PATCH)
 #define PCL_VERSION \
     PCL_VERSION_CALC(PCL_MAJOR_VERSION, PCL_MINOR_VERSION, PCL_REVISION_VERSION)