diff --git a/cmake/pcl_pclconfig.cmake b/cmake/pcl_pclconfig.cmake
index 00bf916916a..212e549926d 100644
--- a/cmake/pcl_pclconfig.cmake
+++ b/cmake/pcl_pclconfig.cmake
@@ -97,7 +97,7 @@ include(CMakePackageConfigHelpers)
 
 configure_package_config_file(PCLConfig.cmake.in
   ${PCL_BINARY_DIR}/PCLConfig.cmake
-  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake
+  INSTALL_DESTINATION cmake
   PATH_VARS INCLUDE_INSTALL_DIR)
 
 write_basic_package_version_file(
diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
index 8b322497c8a..d87d02da94a 100644
--- a/cmake/pcl_utils.cmake
+++ b/cmake/pcl_utils.cmake
@@ -91,44 +91,24 @@ endmacro()
 # subdirectory named after the library in question (e.g.
 # "registration/blorgle.h")
 macro(SET_INSTALL_DIRS)
-  include(GNUInstallDirs)
-
   if(NOT DEFINED LIB_INSTALL_DIR)
-    set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
-  endif()
-
-  if(NOT ANDROID)
-    set(INCLUDE_INSTALL_ROOT
-        "${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
-  else()
-    set(INCLUDE_INSTALL_ROOT ${CMAKE_INSTALL_INCLUDEDIR}) # Android, don't put into subdir
+    set(LIB_INSTALL_DIR "lib")
   endif()
-
-  if(NOT DEFINED INCLUDE_INSTALL_DIR)
-    set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
-  endif()
-
-  if(NOT DEFINED DOC_INSTALL_DIR)
-    set(DOC_INSTALL_DIR "${CMAKE_INSTALL_DOCDIR}")
-  endif()
-
-  if(NOT DEFINED BIN_INSTALL_DIR)
-    set(BIN_INSTALL_DIR "${CMAKE_INSTALL_BINDIR}")
-  endif()
-
-  if(NOT DEFINED PKGCFG_INSTALL_DIR)
-    set(PKGCFG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
-  endif()
-
-  if(NOT DEFINED PCLCONFIG_INSTALL_DIR)
-    if(WIN32 AND NOT MINGW)
-     set(PCLCONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake")
+    if(NOT ANDROID)
+      set(INCLUDE_INSTALL_ROOT
+          "include/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
     else()
-      # Most distributions install cmake config files in /usr/lib*/cmake
-      # and not in /usr/share/cmake.
-      set(PCLCONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+      set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
     endif()
-  endif()
+    set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
+    set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+    set(BIN_INSTALL_DIR "bin")
+    set(PKGCFG_INSTALL_DIR "${LIB_INSTALL_DIR}/pkgconfig")
+    if(WIN32 AND NOT MINGW)
+        set(PCLCONFIG_INSTALL_DIR "cmake")
+      else()
+        set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+      endif()
 endmacro()