diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
index 908e7d0e45c..4ff4a79ad24 100644
--- a/cmake/pcl_find_boost.cmake
+++ b/cmake/pcl_find_boost.cmake
@@ -5,7 +5,14 @@ if(NOT PCL_SHARED_LIBS)
 endif(NOT PCL_SHARED_LIBS)
 
 find_package(Boost 1.44.0 COMPONENTS system filesystem thread)
-# TODO: What should the minimum version number be?
+
 include_directories(${Boost_INCLUDE_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
 
+foreach(boost_component ${Boost_LIBRARIES})
+  string(REGEX MATCH "boost_.*" component "${boost_component}")
+  if(NOT "${component}" EQUAL "")
+    string(REGEX REPLACE "(boost_.*)\\..*" "\\1" component "${component}")
+    list(APPEND boost_components ${component})
+  endif(NOT "${component}" EQUAL "")
+endforeach(boost_component)
diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
index 772a190b1ad..55c9a85f8e5 100644
--- a/features/CMakeLists.txt
+++ b/features/CMakeLists.txt
@@ -34,6 +34,7 @@ if(build)
     PCL_ADD_OPENMP_FLAGS(${LIB_NAME})
     target_link_libraries(${LIB_NAME} pcl_range_image ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
+    list(APPEND EXT_DEPS ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/filters/CMakeLists.txt b/filters/CMakeLists.txt
index a87f6318481..7f283c07a3f 100644
--- a/filters/CMakeLists.txt
+++ b/filters/CMakeLists.txt
@@ -24,6 +24,7 @@ if(build)
     target_link_libraries(${LIB_NAME} pcl_common pcl_sample_consensus
         pcl_kdtree ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
+    list(APPEND EXT_DEPS ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index ee2dac73514..cd19b77d680 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -48,7 +48,7 @@ if(build)
         target_link_libraries(${LIB_NAME} ${OPENNI_LIBRARIES})
     endif(OPENNI_FOUND)
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
-    list(APPEND EXT_DEPS ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
+    list(APPEND EXT_DEPS boost_filesystem boost_thread)
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
index 03892e12cdb..73c0a6e5e5b 100644
--- a/kdtree/CMakeLists.txt
+++ b/kdtree/CMakeLists.txt
@@ -18,7 +18,7 @@ if(build)
     PCL_ADD_SSE_FLAGS(${LIB_NAME})
     target_link_libraries(${LIB_NAME} ${FLANN_LIBRARIES} ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
-    list(APPEND EXT_DEPS flann ${Boost_LIBRARIES})
+    list(APPEND EXT_DEPS flann ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/registration/CMakeLists.txt b/registration/CMakeLists.txt
index 31d9d2ff01c..066b41d921a 100644
--- a/registration/CMakeLists.txt
+++ b/registration/CMakeLists.txt
@@ -16,6 +16,7 @@ if(build)
     target_link_libraries(${LIB_NAME} pcl_kdtree pcl_sample_consensus
         ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
+    list(APPEND EXT_DEPS ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt
index dae59476476..929494513af 100644
--- a/sample_consensus/CMakeLists.txt
+++ b/sample_consensus/CMakeLists.txt
@@ -33,7 +33,7 @@ if(build)
     PCL_ADD_SSE_FLAGS(${LIB_NAME})
     target_link_libraries(${LIB_NAME} ${Boost_LIBRARIES} ${CMINPACK_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
-    list(APPEND EXT_DEPS ${Boost_LIBRARIES} cminpack)
+    list(APPEND EXT_DEPS ${boost_components} cminpack)
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt
index 95d936d0c66..0e0d32f74a6 100644
--- a/segmentation/CMakeLists.txt
+++ b/segmentation/CMakeLists.txt
@@ -20,6 +20,7 @@ if(build)
     target_link_libraries(${LIB_NAME} pcl_kdtree pcl_sample_consensus
         ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
+    list(APPEND EXT_DEPS ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index b68ec36b927..8b18bf880dc 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -24,6 +24,7 @@ if(build)
     PCL_ADD_SSE_FLAGS(${LIB_NAME})
     target_link_libraries(${LIB_NAME} ${QHULL_LIBRARIES} ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
+    list(APPEND EXT_DEPS qhull ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")
 
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 969b343f6af..7a8588e5488 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -45,8 +45,15 @@ if(build)
     target_link_libraries(${LIB_NAME} ${wxWidgets_LIBRARIES}
         vtkCommon vtkWidgets vtkHybrid ${Boost_LIBRARIES})
     PREFIX_LIST(EXT_DEPS pcl_ "${SUBSYS_DEPS}")
-    list(APPEND EXT_DEPS ${wxWidgets_LIBRARIES} vtkCommon vtkWidgets
-        vtkHybrid ${Boost_LIBRARIES})
+    foreach(wx_component ${wxWidgets_LIBRARIES})
+      string(REGEX MATCH "wx.*" component "${wx_component}")
+      if(NOT "${component}" EQUAL "")
+        string(REGEX REPLACE "(wx.*)-[0-9\\.]+" "\\1" component "${component}")
+        list(APPEND wx_components ${component})
+      endif(NOT "${component}" EQUAL "")
+    endforeach(wx_component)
+    list(APPEND EXT_DEPS ${wx_components} vtkCommon vtkWidgets
+        vtkHybrid ${boost_components})
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
         "${EXT_DEPS}" "" "" "")