diff --git a/debian/patches/0002-Use-pkg-config-to-retrieve-dependencies.patch b/debian/patches/0002-Use-pkg-config-to-retrieve-dependencies.patch
new file mode 100644
index 0000000000000000000000000000000000000000..a1cc05487423cfcdfbacb763604a6dc36af604d0
--- /dev/null
+++ b/debian/patches/0002-Use-pkg-config-to-retrieve-dependencies.patch
@@ -0,0 +1,392 @@
+From: Thomas Moulard <thomas.moulard@gmail.com>
+Date: Tue, 16 Apr 2013 13:53:11 +0900
+Subject: Use pkg-config to retrieve dependencies.
+
+First attempt to fix [15587] visp-config conflicts with multiarch
+support on Debian by providing visp.pc file
+
+Origin: upstream, https://gforge.inria.fr/scm/viewvc.php?view=rev&root=visp&revision=4203
+Bug: https://gforge.inria.fr/tracker/index.php?func=detail&aid=15587&group_id=397&atid=1867
+Author: Fabien Spindler
+---
+ CMakeLists.txt | 20 ------
+ CMakeModules/GenerateConfigScript.cmake | 118 +++++++++++++++++++++++++------
+ CMakeModules/visp-config.in | 4 +-
+ CMakeModules/visp-config.install.in | 103 +++++++++++++++++++++++++++
+ CMakeModules/visp.pc.in | 14 ++++
+ 5 files changed, 215 insertions(+), 44 deletions(-)
+ create mode 100644 CMakeModules/visp-config.install.in
+ create mode 100644 CMakeModules/visp.pc.in
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e762c6f..fdcb0b0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1898,26 +1898,6 @@ ENDIF()
+ INCLUDE(${VISP_CMAKE_MODULE_PATH}/GenerateConfigScript.cmake)
+
+ #----------------------------------------------------------------------
+-# customize install target
+-#----------------------------------------------------------------------
+-# install rule for visp-config shell script
+-IF (UNIX)
+- INSTALL(FILES ${BINARY_OUTPUT_PATH}/visp-config
+- DESTINATION ${CMAKE_INSTALL_BINDIR}
+- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+- OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
+- OWNER_WRITE
+- COMPONENT libraries)
+-ELSE(UNIX)
+- INSTALL(FILES ${BINARY_OUTPUT_PATH}/visp-config.bat
+- DESTINATION ${CMAKE_INSTALL_BINDIR}
+- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+- OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
+- OWNER_WRITE
+- COMPONENT libraries)
+-ENDIF (UNIX)
+-
+-#----------------------------------------------------------------------
+ # add distclean target
+ #----------------------------------------------------------------------
+ INCLUDE(${VISP_CMAKE_MODULE_PATH}/TargetDistclean.cmake)
+diff --git a/CMakeModules/GenerateConfigScript.cmake b/CMakeModules/GenerateConfigScript.cmake
+index cdcdf78..25056c6 100644
+--- a/CMakeModules/GenerateConfigScript.cmake
++++ b/CMakeModules/GenerateConfigScript.cmake
+@@ -31,8 +31,12 @@
+ # WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ #
+ # Description:
+-# This file generates the ViSP library config shell script: "visp-config"
+-# from visp-config.in (in VISP_SOURCE_DIR).
++# This file generates the ViSP library config shell scripts:
++# - visp-config in <build dir>/bin from visp-config.in
++# - visp-config in <build dir>/install from visp-config.install.in
++# When make install, this file is copied in <install dir>/bin
++# - visp.pc in <build dir>/install from visp.pc.in
++# When make install, this file is copied in <install dir>/lib/pkgconfig
+ #
+ # Authors:
+ # Fabien Spindler
+@@ -48,33 +52,38 @@ IF (UNIX)
+ #######################################################################
+ SET(FILE_VISP_CONFIG_SCRIPT_IN "${VISP_SOURCE_DIR}/CMakeModules/visp-config.in")
+ SET(FILE_VISP_CONFIG_SCRIPT "${BINARY_OUTPUT_PATH}/visp-config")
++
++ SET(FILE_VISP_CONFIG_SCRIPT_INSTALL_IN "${VISP_SOURCE_DIR}/CMakeModules/visp-config.install.in")
++ SET(FILE_VISP_CONFIG_SCRIPT_INSTALL "${VISP_BINARY_DIR}/install/visp-config")
+
++ SET(FILE_VISP_CONFIG_PC_INSTALL_IN "${VISP_SOURCE_DIR}/CMakeModules/visp.pc.in")
++ SET(FILE_VISP_CONFIG_PC_INSTALL "${VISP_BINARY_DIR}/install/visp.pc")
++
+ #---------------------------------------------------------------------
+ # Updates VISP_CONFIG_SCRIPT_PREFIX
+ #----------------------------------------------------------------------
+ SET(VISP_CONFIG_SCRIPT_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+ #---------------------------------------------------------------------
+- # Updates VISP_CONFIG_SCRIPT_CFLAGS
++ # Updates VISP_CONFIG_CFLAGS
+ #----------------------------------------------------------------------
+- SET(VISP_CONFIG_SCRIPT_CFLAGS ${VISP_OPENMP_FLAGS})
+- LIST(APPEND VISP_CONFIG_SCRIPT_CFLAGS "${VISP_DEFS}")
+- LIST(APPEND VISP_CONFIG_SCRIPT_CFLAGS "-I$PREFIX/${CMAKE_INSTALL_INCLUDEDIR}")
++ SET(VISP_CONFIG_CFLAGS ${VISP_OPENMP_FLAGS})
++ LIST(APPEND VISP_CONFIG_CFLAGS "${VISP_DEFS}")
+
+ FOREACH(INCDIR ${VISP_EXTERN_INCLUDE_DIRS})
+- LIST(APPEND VISP_CONFIG_SCRIPT_CFLAGS "-I${INCDIR}")
++ LIST(APPEND VISP_CONFIG_CFLAGS "-I${INCDIR}")
+ ENDFOREACH(INCDIR)
+
+ # Suppress twins
+- LIST(REMOVE_DUPLICATES VISP_CONFIG_SCRIPT_CFLAGS)
++ LIST(REMOVE_DUPLICATES VISP_CONFIG_CFLAGS)
+
+ # Format the string to suppress CMake separators ";"
+- SET(VISP_CONFIG_SCRIPT_CFLAGS_REFORMATED "")
+- FOREACH(element ${VISP_CONFIG_SCRIPT_CFLAGS})
+- SET(VISP_CONFIG_SCRIPT_CFLAGS_REFORMATED "${VISP_CONFIG_SCRIPT_CFLAGS_REFORMATED} ${element}")
++ SET(VISP_CONFIG_CFLAGS_REFORMATED "")
++ FOREACH(element ${VISP_CONFIG_CFLAGS})
++ SET(VISP_CONFIG_CFLAGS_REFORMATED "${VISP_CONFIG_CFLAGS_REFORMATED} ${element}")
+ ENDFOREACH(element)
+- SET(VISP_CONFIG_SCRIPT_CFLAGS ${VISP_CONFIG_SCRIPT_CFLAGS_REFORMATED})
+-# MESSAGE(": ${VISP_CONFIG_SCRIPT_CFLAGS}")
++ SET(VISP_CONFIG_CFLAGS ${VISP_CONFIG_CFLAGS_REFORMATED})
++# MESSAGE(": ${VISP_CONFIG_CFLAGS}")
+
+
+ IF(BUILD_TEST_COVERAGE)
+@@ -83,12 +92,12 @@ IF (UNIX)
+ # Because using -fprofile-arcs with shared lib can cause problems like:
+ # hidden symbol `__bb_init_func', we add this option only for static
+ # library build
+- SET(VISP_CONFIG_SCRIPT_CFLAGS "${VISP_CONFIG_SCRIPT_CFLAGS} -ftest-coverage -fprofile-arcs")
++ SET(VISP_CONFIG_CFLAGS "${VISP_CONFIG_CFLAGS} -ftest-coverage -fprofile-arcs")
+ ENDIF(BUILD_TEST_COVERAGE)
+
+
+ #---------------------------------------------------------------------
+- # Updates VISP_CONFIG_SCRIPT_EXTERN_LIBS
++ # Updates VISP_CONFIG_LIBS
+ #
+ # add "-l" to library names
+ # skip *.so, *.a, *.dylib, -framework*, -l*
+@@ -104,7 +113,7 @@ IF (UNIX)
+ #MESSAGE("VISP_CONFIG_SCRIPT_TMP_LDFLAGS: ${VISP_CONFIG_SCRIPT_TMP_LDFLAGS}")
+ # convert semicolon-separated vector to space-separated string
+ FOREACH(val ${VISP_CONFIG_SCRIPT_TMP_LDFLAGS})
+- SET(VISP_CONFIG_SCRIPT_EXTERN_LIBS "${VISP_CONFIG_SCRIPT_EXTERN_LIBS} ${val}")
++ SET(VISP_CONFIG_LIBS "${VISP_CONFIG_LIBS} ${val}")
+ ENDFOREACH(val)
+
+ # Manage the libs
+@@ -137,16 +146,25 @@ IF (UNIX)
+ ENDFOREACH(lib)
+
+ FOREACH(val ${TMP_LIBS})
+- SET(VISP_CONFIG_SCRIPT_EXTERN_LIBS "${VISP_CONFIG_SCRIPT_EXTERN_LIBS} ${val}")
++ SET(VISP_CONFIG_LIBS "${VISP_CONFIG_LIBS} ${val}")
+ ENDFOREACH(val)
+
+- #MESSAGE("EXTERN LIBS : ${VISP_CONFIG_SCRIPT_EXTERN_LIBS}")
++ #MESSAGE("EXTERN LIBS : ${VISP_CONFIG_LIBS}")
+
++ #---------------------------------------------------------------------
++ # Updates the <build dir>/bin/visp-config shell script
++ # Updates VISP_CONFIG_LIBS_SCRIPT (for visp-config)
++ # Updates VISP_CONFIG_CFLAGS_SCRIPT (for visp-config)
++ #----------------------------------------------------------------------
++
++ # prepend with ViSP own include dir
++ set(VISP_CONFIG_CFLAGS_SCRIPT "-I$PREFIX/${CMAKE_INSTALL_INCLUDEDIR} ${VISP_CONFIG_CFLAGS}")
++
+ # prepend with ViSP own lib dir
+- SET(VISP_CONFIG_SCRIPT_EXTERN_LIBS "-L$PREFIX/${CMAKE_INSTALL_LIBDIR} -l${VISP_INTERN_LIBRARY} ${VISP_CONFIG_SCRIPT_EXTERN_LIBS}")
++ SET(VISP_CONFIG_LIBS_SCRIPT "-L$PREFIX/${CMAKE_INSTALL_LIBDIR} -l${VISP_INTERN_LIBRARY} ${VISP_CONFIG_LIBS}")
+ IF(UNIX)
+ IF(NOT APPLE)
+- SET(VISP_CONFIG_SCRIPT_EXTERN_LIBS "-Wl,-rpath,$PREFIX/${CMAKE_INSTALL_LIBDIR} ${VISP_CONFIG_SCRIPT_EXTERN_LIBS}")
++ SET(VISP_CONFIG_LIBS_SCRIPT "-Wl,-rpath,$PREFIX/${CMAKE_INSTALL_LIBDIR} ${VISP_CONFIG_LIBS_SCRIPT}")
+ ENDIF(NOT APPLE)
+ ENDIF(UNIX)
+
+@@ -158,10 +176,34 @@ IF (UNIX)
+ SET(VISP_ECHO_NO_NEWLINE_OPTION "-n")
+ ENDIF(APPLE)
+
++ CONFIGURE_FILE(${FILE_VISP_CONFIG_SCRIPT_IN} ${FILE_VISP_CONFIG_SCRIPT})
++
+ #---------------------------------------------------------------------
+- # Updates the visp-config shell script
++ # Updates the <build dir>/install/visp-config shell script
+ #----------------------------------------------------------------------
+- CONFIGURE_FILE(${FILE_VISP_CONFIG_SCRIPT_IN} ${FILE_VISP_CONFIG_SCRIPT})
++
++ CONFIGURE_FILE(${FILE_VISP_CONFIG_SCRIPT_INSTALL_IN} ${FILE_VISP_CONFIG_SCRIPT_INSTALL})
++
++ #---------------------------------------------------------------------
++ # Updates the <build dir>/install/visp.pc pkg-config file
++ # Updates VISP_CONFIG_CFLAGS_PC (for libvisp.pc used by pkg-config)
++ # Updates VISP_CONFIG_LIBS_PC (for libvisp.pc used by pkg-config)
++ #----------------------------------------------------------------------
++ set(exec_prefix "\${prefix}")
++ set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
++ set(libdir "\${prefix}/${CMAKE_INSTALL_LIBDIR}")
++
++ # prepend with ViSP own include dir
++ set(VISP_CONFIG_CFLAGS_PC "-I\${includedir} ${VISP_CONFIG_CFLAGS}")
++
++ # prepend with ViSP own lib dir
++ SET(VISP_CONFIG_LIBS_PC "-L\${libdir} -l${VISP_INTERN_LIBRARY} ${VISP_CONFIG_LIBS}")
++ IF(UNIX)
++ IF(NOT APPLE)
++ SET(VISP_CONFIG_LIBS_PC "-Wl,-rpath,\${libdir} ${VISP_CONFIG_LIBS_PC}")
++ ENDIF(NOT APPLE)
++ ENDIF(UNIX)
++ CONFIGURE_FILE(${FILE_VISP_CONFIG_PC_INSTALL_IN} ${FILE_VISP_CONFIG_PC_INSTALL})
+
+ ELSE(UNIX)
+ #######################################################################
+@@ -309,3 +351,35 @@ ELSE(UNIX)
+ CONFIGURE_FILE(${FILE_VISP_CONFIG_SCRIPT_IN} ${FILE_VISP_CONFIG_SCRIPT})
+ ENDIF(UNIX)
+
++#----------------------------------------------------------------------
++# customize install target
++#----------------------------------------------------------------------
++# install rule for visp-config shell script
++IF (UNIX)
++ INSTALL(FILES ${FILE_VISP_CONFIG_SCRIPT_INSTALL}
++ DESTINATION ${CMAKE_INSTALL_BINDIR}
++ PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
++ OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
++ OWNER_WRITE
++ COMPONENT libraries)
++ELSE(UNIX)
++ INSTALL(FILES ${BINARY_OUTPUT_PATH}/visp-config.bat
++ DESTINATION ${CMAKE_INSTALL_BINDIR}
++ PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
++ OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
++ OWNER_WRITE
++ COMPONENT libraries)
++ENDIF (UNIX)
++# install rule for visp.pc pkg-config file
++IF (UNIX)
++ INSTALL(FILES ${FILE_VISP_CONFIG_PC_INSTALL}
++ DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
++ PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
++ OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
++ OWNER_WRITE
++ COMPONENT libraries)
++ELSE(UNIX)
++ # not implemented yet
++ENDIF (UNIX)
++
++
+diff --git a/CMakeModules/visp-config.in b/CMakeModules/visp-config.in
+index 8a54027..3a45e08 100755
+--- a/CMakeModules/visp-config.in
++++ b/CMakeModules/visp-config.in
+@@ -47,9 +47,9 @@ relpath=`(cd $relpath/..; pwd)`
+
+ PREFIX=$relpath
+
+-CFLAGS="${VISP_CONFIG_SCRIPT_CFLAGS}"
++CFLAGS="${VISP_CONFIG_CFLAGS_SCRIPT}"
+
+-LIBS="${VISP_CONFIG_SCRIPT_EXTERN_LIBS}"
++LIBS="${VISP_CONFIG_LIBS_SCRIPT}"
+
+ VERSION="${VISP_VERSION}"
+
+diff --git a/CMakeModules/visp-config.install.in b/CMakeModules/visp-config.install.in
+new file mode 100644
+index 0000000..88504df
+--- /dev/null
++++ b/CMakeModules/visp-config.install.in
+@@ -0,0 +1,103 @@
++#!/bin/sh
++
++#############################################################################
++#
++# $Id: visp-config.in 4057 2013-01-05 13:10:29Z fspindle $
++#
++# This file is part of the ViSP software.
++# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
++#
++# This software is free software; you can redistribute it and/or
++# modify it under the terms of the GNU General Public License
++# ("GPL") version 2 as published by the Free Software Foundation.
++# See the file LICENSE.txt at the root directory of this source
++# distribution for additional information about the GNU GPL.
++#
++# For using ViSP with software that can not be combined with the GNU
++# GPL, please contact INRIA about acquiring a ViSP Professional
++# Edition License.
++#
++# See http://www.irisa.fr/lagadic/visp/visp.html for more information.
++#
++# This software was developed at:
++# INRIA Rennes - Bretagne Atlantique
++# Campus Universitaire de Beaulieu
++# 35042 Rennes Cedex
++# France
++# http://www.irisa.fr/lagadic
++#
++# If you have questions regarding the use of this file, please contact
++# INRIA at visp@inria.fr
++#
++# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
++# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
++#
++# Description:
++# visp-config shell script.
++# Auto-generated from visp-config.install.in by cmake. For backward
++# compatibility used visp.pc.
++#
++# Authors:
++# Fabien Spindler
++#
++#############################################################################
++
++
++relpath=`dirname $0`
++relpath=`(cd $relpath/..; pwd)`
++
++PREFIX=$relpath
++
++CFLAGS_CMD=`pkg-config --cflags visp`
++CFLAGS=$CFLAGS_CMD
++
++LIBS_CMD=`pkg-config --libs visp`
++LIBS=$LIBS_CMD
++
++VERSION_CMD=`pkg-config --modversion visp`
++VERSION=$VERSION_CMD
++
++NO_NEWLINE_CHARACTER="${VISP_ECHO_NO_NEWLINE_CHARACTER}"
++NO_NEWLINE_OPTION="${VISP_ECHO_NO_NEWLINE_OPTION}"
++
++usage()
++{
++ cat <<EOF
++
++ViSP $VERSION (Visual Servoing Platform)
++Copyright (C) 2005 - 2013 Inria. All rights reserved.
++
++Usage: $0 [--prefix] [--cflags] [--libs] [--version] [--dumpversion] [--help]
++
++ --prefix Show ViSP installation prefix.
++ --cflags Print pre-processor and compiler flags including
++ third party includes we depend on.
++ --libs Print library linking information with ViSP
++ including third party libraries we depend on.
++ --version Output ViSP information.
++ --dumpversion Output ViSP version information.
++ --help Display this help and exit.
++
++EOF
++ exit $1
++}
++
++if ! test "$1"; then
++ usage;
++ exit -1;
++fi;
++
++for arg in $@; do
++ case $arg in
++ --prefix) echo $NO_NEWLINE_OPTION "$PREFIX$NO_NEWLINE_CHARACTER";;
++ --cflags) echo $NO_NEWLINE_OPTION "$CFLAGS$NO_NEWLINE_CHARACTER";;
++ --libs) echo $NO_NEWLINE_OPTION "$LIBS$NO_NEWLINE_CHARACTER";;
++ --version)
++ echo "ViSP $VERSION (Visual Servoing Platform)"
++ echo ""
++ echo "Copyright (C) 2005 - 2013 Inria. All rights reserved.";;
++ --dumpversion) echo $NO_NEWLINE_OPTION "$VERSION$NO_NEWLINE_CHARACTER";;
++ *) usage; exit -1 ;;
++ esac;
++done;
++echo ""
+diff --git a/CMakeModules/visp.pc.in b/CMakeModules/visp.pc.in
+new file mode 100644
+index 0000000..93ab39c
+--- /dev/null
++++ b/CMakeModules/visp.pc.in
+@@ -0,0 +1,14 @@
++# Package Information for pkg-config
++
++prefix=${CMAKE_INSTALL_PREFIX}
++exec_prefix=@exec_prefix@
++libdir=@libdir@
++includedir=@includedir@
++
++Name: ViSP
++Description: Visual Servoing Platform
++URL: http://www.irisa.fr/lagadic/visp
++Version: ${VISP_VERSION}
++Libs: ${VISP_CONFIG_LIBS_PC}
++
++Cflags: ${VISP_CONFIG_CFLAGS_PC}
diff --git a/debian/patches/series b/debian/patches/series
index 13d39292de42705f710765cc408351b19be1506b..5cd7c04a7b60211e25f61560482d30bbe808f81b 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -1 +1,2 @@
0001-Fix-library-soversion.patch
+0002-Use-pkg-config-to-retrieve-dependencies.patch