diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ad9d198..4d98b972 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -324,15 +324,24 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 
 ####### SOURCES (Projects) #######
+
+# CONF_DEPENDENCIES contains only dependencies not required by the headers
+SET(CONF_DEPENDENCIES 
+	${ZLIB_LIBRARIES}
+)
 IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
    SET(NONFREE "//")
 ENDIF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
 IF(NOT G2O_FOUND)
    SET(G2O "//")
-ENDIF(NOT G2O_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
+ENDIF()
 IF(NOT GTSAM_FOUND)
    SET(GTSAM "//")
-ENDIF(NOT GTSAM_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
+ENDIF()
 IF(NOT WITH_TORO)
    SET(TORO "//")
 ENDIF(NOT WITH_TORO)
@@ -341,25 +350,39 @@ IF(NOT WITH_VERTIGO)
 ENDIF(NOT WITH_VERTIGO)
 IF(NOT cvsba_FOUND)
    SET(CVSBA "//")
-ENDIF(NOT cvsba_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
+ENDIF()
 IF(NOT Freenect_FOUND)
    SET(FREENECT "//")
-ENDIF(NOT Freenect_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${Freenect_LIBRARIES})
+ENDIF()
 IF(NOT freenect2_FOUND)
    SET(FREENECT2 "//")
-ENDIF(NOT freenect2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${freenect2_LIBRARIES})
+ENDIF()
 IF(NOT OpenNI2_FOUND)
    SET(OPENNI2 "//")
-ENDIF(NOT OpenNI2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OpenNI2_LIBRARIES})
+ENDIF()
 IF(NOT DC1394_FOUND)
    SET(DC1394 "//")
-ENDIF(NOT DC1394_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${DC1394_LIBRARIES})
+ENDIF()
 IF(NOT FlyCapture2_FOUND)
    SET(FLYCAPTURE2 "//")
-ENDIF(NOT FlyCapture2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${FlyCapture2_LIBRARIES})
+ENDIF()
 IF(NOT ZED_FOUND)
    SET(ZED "//")
-ENDIF(NOT ZED_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
+ENDIF()
 IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
    SET(OPENCV3 "//")
 ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
diff --git a/RTABMapConfig.cmake.in b/RTABMapConfig.cmake.in
index 66b8cee6..cfff0d81 100644
--- a/RTABMapConfig.cmake.in
+++ b/RTABMapConfig.cmake.in
@@ -61,6 +61,9 @@ if(@CONF_WITH_GUI@)
    set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
 endif(@CONF_WITH_GUI@)
 
+# Dependencies
+set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} @CONF_DEPENDENCIES@)
+
 #backward compatibilities
 set(RTABMAP_CORE ${RTABMap_CORE})
 set(RTABMAP_UTILITE ${RTABMap_UTILITE})