diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ca62441..377dfc95 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -176,6 +176,7 @@ IF(ZLIB_FOUND)
    MESSAGE(STATUS "Found ZLIB: ${ZLIB_INCLUDE_DIRS}")
 ENDIF(ZLIB_FOUND)
 
+SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
 IF(WITH_QT)
     FIND_PACKAGE(VTK)
     IF(NOT VTK_FOUND)
@@ -185,7 +186,10 @@ IF(WITH_QT)
     # If Qt is here, the GUI will be built
     # look for Qt5 (if vtk>5 is installed) before Qt4
     IF("${VTK_MAJOR_VERSION}" GREATER 5)
-        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg QUIET)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
+        IF(Qt5_FOUND)
+             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+        ENDIF(Qt5_FOUND)
     ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
 
     IF(NOT Qt5_FOUND)
@@ -195,7 +199,13 @@ IF(WITH_QT)
     IF(QT4_FOUND OR Qt5_FOUND)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
-        ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
+        ELSE()
+            list(FIND PCL_LIBRARIES vtkGUISupportQt value)
+            IF(value EQUAL -1)
+                SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
+                SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
+            ENDIF(value EQUAL -1)
+        ENDIF()
     ENDIF(QT4_FOUND OR Qt5_FOUND)
 ENDIF(WITH_QT)
 
@@ -401,6 +411,9 @@ IF(NOT OCTOMAP_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
 ENDIF()
+IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
+ENDIF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
 IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
    SET(OPENCV3 "//")
 ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))