diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt
index 1d5b31904e3..967a3008510 100644
--- a/2d/CMakeLists.txt
+++ b/2d/CMakeLists.txt
@@ -38,7 +38,7 @@ if(build)
     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
     link_directories(${VTK_LINK_DIRECTORIES})
-    target_link_libraries("${LIB_NAME}" ${VTK_IO_TARGET_LINK_LIBRARIES} pcl_io)
+    target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES} pcl_io)
     PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
 
     #Install include files
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef3d926bbc5..302d1fa2cb6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -352,12 +352,18 @@ option(WITH_VTK "Build VTK-Visualizations" TRUE)
 if(WITH_VTK AND NOT ANDROID)
   find_package(VTK)
   if(VTK_FOUND)
+    message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}")
     if (PCL_SHARED_LIBS OR
         (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
       set(VTK_FOUND TRUE)
       find_package (QVTK)
-      message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
-      link_directories(${VTK_LIBRARY_DIRS})
+      if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+         message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
+         link_directories(${VTK_LIBRARY_DIRS})
+      else(${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+         include (${VTK_USE_FILE})
+         message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARIES}")
+      endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
       set(HAVE_VTK ON)
     else ()
       set(VTK_FOUND OFF)
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index d0cf8497c87..716fddc4acb 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -306,7 +306,7 @@ macro(find_VTK)
   if(NOT ANDROID)
     find_package(VTK ${QUIET_})
     if (VTK_FOUND)
-      set(VTK_LIBRARIES vtkCommon vtkRendering vtkHybrid vtkCharts)
+      set(VTK_LIBRARIES "@VTK_LIBRARIES@")
     endif(VTK_FOUND)
   endif()
 endmacro(find_VTK)
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 08dc85fd3b4..bd2becdec99 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -77,10 +77,10 @@ if(build)
     target_link_libraries(pcl_pcd_organized_edge_detection pcl_common pcl_io pcl_features pcl_visualization)
 
     PCL_ADD_EXECUTABLE(pcl_face_trainer "${SUBSYS_NAME}" src/face_detection/face_trainer.cpp)
-    target_link_libraries(pcl_face_trainer pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree vtkRendering vtkIO)
+    target_link_libraries(pcl_face_trainer pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree ${VTK_LIBRARIES})
 
     PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_fs_face_detector "${SUBSYS_NAME}" src/face_detection//filesystem_face_detection.cpp)
-    target_link_libraries(pcl_fs_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree vtkRendering vtkIO)
+    target_link_libraries(pcl_fs_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree ${VTK_LIBRARIES})
 
     PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation "${SUBSYS_NAME}" src/stereo_ground_segmentation.cpp)
     target_link_libraries(pcl_stereo_ground_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_stereo)
@@ -142,37 +142,37 @@ if(build)
       target_link_libraries(pcl_openni_organized_edge_detection pcl_common pcl_io pcl_features pcl_visualization)
 
       PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_face_detector "${SUBSYS_NAME}" src/face_detection//openni_face_detection.cpp src/face_detection//openni_frame_source.cpp)
-      target_link_libraries(pcl_openni_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree vtkRendering vtkIO)
+      target_link_libraries(pcl_openni_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree ${VTK_LIBRARIES})
 
       if (QT4_FOUND AND VTK_USE_QVTK)
         # OpenNI Passthrough application demo
         QT4_WRAP_UI(openni_passthrough_ui src/openni_passthrough.ui)
         QT4_WRAP_CPP(openni_passthrough_moc include/pcl/apps/openni_passthrough.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
         PCL_ADD_EXECUTABLE(pcl_openni_passthrough "${SUBSYS_NAME}" ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
-        target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # OpenNI Organized Connected Component application demo
         QT4_WRAP_UI(organized_segmentation_demo_ui src/organized_segmentation_demo.ui)
         QT4_WRAP_CPP(organized_segmentation_demo_moc include/pcl/apps/organized_segmentation_demo.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_organized_segmentation_demo "${SUBSYS_NAME}" ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp)
-        target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # Manual registration demo
         QT4_WRAP_UI(manual_registration_ui src/manual_registration/manual_registration.ui)
         QT4_WRAP_CPP(manual_registration_moc include/pcl/apps/manual_registration.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_manual_registration "${SUBSYS_NAME}" ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp)
-        target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         QT4_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
         QT4_WRAP_CPP(pcd_video_player_moc include/pcl/apps/pcd_video_player.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_pcd_video_player "${SUBSYS_NAME}" ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp)
-        target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # Database processing (integration) demo
 #        QT4_WRAP_UI(db_proc_ui src/db_proc/db_proc.ui)
 #        QT4_WRAP_CPP(db_proc_moc include/pcl/apps/db_proc.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)
 #        PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_db_proc "${SUBSYS_NAME}" ${db_proc_ui} ${db_proc_moc} src/db_proc/db_proc.cpp)
-#        target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+#        target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
       endif ()
 
diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
index c27e47d1f82..d4449752487 100644
--- a/apps/cloud_composer/CMakeLists.txt
+++ b/apps/cloud_composer/CMakeLists.txt
@@ -120,7 +120,7 @@ if(build)
     
     set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
     PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${cloud_composer_ui} ${cloud_composer_moc} ${srcs} ${resource_srcs} ${item_srcs} ${selector_srcs} ${impl_incs})
-    target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters QVTK ${QT_LIBRARIES})
+    target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
     # Install include files
     PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs} ${item_incs} ${selector_incs})
diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt
index 0fb809ac0b6..7181cd46897 100644
--- a/apps/modeler/CMakeLists.txt
+++ b/apps/modeler/CMakeLists.txt
@@ -109,7 +109,7 @@ if(build)
   # Generate executable
   set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
   PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
-  target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search QVTK ${QT_LIBRARIES})
+  target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
   # Put the ui in the windows project file
   IF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")
diff --git a/cmake/Modules/FindQVTK.cmake b/cmake/Modules/FindQVTK.cmake
index 18ae5767a38..a6de52d0662 100644
--- a/cmake/Modules/FindQVTK.cmake
+++ b/cmake/Modules/FindQVTK.cmake
@@ -7,17 +7,26 @@
 # QVTK_LIBRARY - QVTK library.
 # if QVTK_FOUND then QVTK_INCLUDE_DIR is appended to VTK_INCLUDE_DIRS and 
 # QVTK_LIBRARY is appended to QVTK_LIBRARY_DIR
-
-find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
-find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
-find_package_handle_standard_args(QVTK DEFAULT_MSG
-  QVTK_LIBRARY QVTK_INCLUDE_DIR)
-
-if(NOT QVTK_FOUND)
-  set (VTK_USE_QVTK OFF)
-else(NOT QVTK_FOUND)
-  get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
-  set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
-  set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
-  set (VTK_USE_QVTK ON)
-endif(NOT QVTK_FOUND)
+if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+  find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
+  find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
+  find_package_handle_standard_args(QVTK DEFAULT_MSG
+    QVTK_LIBRARY QVTK_INCLUDE_DIR)
+  if(NOT QVTK_FOUND)
+    set (VTK_USE_QVTK OFF)
+  else(NOT QVTK_FOUND)
+    get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
+    set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
+    set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
+    set (VTK_USE_QVTK ON)
+  endif(NOT QVTK_FOUND)
+else (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+  list (FIND VTK_MODULES_ENABLED vtkGUISupportQt GUI_SUUPORT_QT_FOUND)
+  list (FIND VTK_MODULES_ENABLED vtkRenderingQt RENDERING_QT_FOUND)
+  if (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+    set (VTK_USE_QVTK ON)
+    set (QVTK_LIBRARY vtkRenderingQt vtkGUISupportQt)
+  else (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+    unset(QVTK_FOUND)
+  endif (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index f66080c3ed1..d6e0e8dff23 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -293,7 +293,7 @@ if(build)
     add_definitions(${VTK_DEFINES})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
     link_directories(${VTK_LINK_DIRECTORIES})
-    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_IO_TARGET_LINK_LIBRARIES} ${VTK_COMMON_TARGET_LINK_LIBRARIES})
+    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
     if(PNG_FOUND)
       target_link_libraries("${LIB_NAME}" "${PNG_LIBRARY}")
     endif(PNG_FOUND)
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index 89cc5c67e3a..dec7d123d2e 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -44,7 +44,12 @@ if(build)
             src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
             src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
             src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp)
-        set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+        
+        if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+            set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+        else("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+            set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommonCore vtkCommonDataModel vtkCommonExecutionModel vtkFiltersModeling)
+        endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
     endif()
     
     SET(BUILD_surface_on_nurbs 0 CACHE BOOL "Fitting NURBS to point-clouds using openNURBS" )
@@ -154,7 +159,7 @@ if(build)
     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}")
     link_directories(${VTK_LIBRARY_DIRS})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
-    target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_SMOOTHING_TARGET_LINK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+    target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
     if(QHULL_FOUND)
       target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
     endif(QHULL_FOUND)
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 11db215102f..78c2c552826 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -235,13 +235,13 @@ if (build)
         target_link_libraries(pcl_octree_viewer pcl_common pcl_io pcl_octree pcl_visualization pcl_kdtree pcl_filters)
 
         PCL_ADD_EXECUTABLE(pcl_mesh2pcd "${SUBSYS_NAME}" mesh2pcd.cpp)
-        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
         
         PCL_ADD_EXECUTABLE(pcl_mesh_sampling "${SUBSYS_NAME}" mesh_sampling.cpp)
-        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
         
         PCL_ADD_EXECUTABLE(pcl_virtual_scanner "${SUBSYS_NAME}" virtual_scanner.cpp)
-        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommon vtkGraphics)
+        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization ${VTK_LIBRARIES})
 
         PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation "${SUBSYS_NAME}" voxel_grid_occlusion_estimation.cpp)
         target_link_libraries (pcl_voxel_grid_occlusion_estimation pcl_common pcl_io pcl_filters pcl_visualization)
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 65bb3b6ab0e..f9f876a6ab0 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -149,7 +149,7 @@ if(build)
     if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
       target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
     else()
-      target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+      target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${VTK_LIBRARIES} ${OPENGL_LIBRARIES})
     endif()
 
     set(EXT_DEPS "")