diff -up ./cmakemodules/script_kinect.cmake.systemdeps ./cmakemodules/script_kinect.cmake
--- ./cmakemodules/script_kinect.cmake.systemdeps	2012-07-04 14:13:03.000000000 -0400
+++ ./cmakemodules/script_kinect.cmake	2013-04-15 16:26:39.320842970 -0400
@@ -3,6 +3,7 @@
 IF(UNIX)
 	IF(PKG_CONFIG_FOUND)
         	PKG_CHECK_MODULES(PKG_LIBUSB10 libusb-1.0)
+		PKG_CHECK_MODULES(OPENKINECT_FREENECT libfreenect)
 	ENDIF(PKG_CONFIG_FOUND)
 ENDIF(UNIX)
 
@@ -23,7 +24,7 @@ ENDIF(UNIX)
 SET(CMAKE_MRPT_HAS_KINECT 0)  # Will be set to 1 only if all conditions are OK
 SET(CMAKE_MRPT_HAS_CL_NUI 0)
 SET(CMAKE_MRPT_HAS_FREENECT 0)
-SET(CMAKE_MRPT_HAS_FREENECT_SYSTEM 0) # This means libfreenect is already built somewhere else in the system.
+SET(CMAKE_MRPT_HAS_FREENECT_SYSTEM 1) # This means libfreenect is already built somewhere else in the system.
 
 SET(BUILD_KINECT ${BUILD_KINECT_DEFAULT} CACHE BOOL "Build support for Xbox Kinect")
 IF(BUILD_KINECT)
@@ -39,6 +40,7 @@ IF(BUILD_KINECT)
 				SET(CMAKE_MRPT_HAS_FREENECT 1)
 				#MESSAGE(STATUS "PKG_LIBUSB10_LIBRARIES: ${PKG_LIBUSB10_LIBRARIES}")
 				APPEND_MRPT_LIBS(${PKG_LIBUSB10_LIBRARIES})
+				SET(FREENECT_LIBS ${LIBUSB_1_LIBRARIES} ${OPENKINECT_FREENECT_LIBRARIES})
 			ELSE(PKG_LIBUSB10_FOUND)
 				MESSAGE(SEND_ERROR "BUILD_KINECT requires libusb-1.0. Install it or disable BUILD_KINECT")
 			ENDIF(PKG_LIBUSB10_FOUND)
@@ -62,7 +64,7 @@ IF(BUILD_KINECT)
 			find_package(libusb-1.0 REQUIRED)
 
 			if (LIBUSB_1_FOUND)
-				SET(FREENECT_LIBS ${LIBUSB_1_LIBRARIES})
+				SET(FREENECT_LIBS ${LIBUSB_1_LIBRARIES} ${OPENKINECT_FREENECT_LIBRARIES})
 
 				SET(LIBUSB_1_DLL_FOR_INSTALL "" CACHE PATH "Path to the libusb0.dll file to install along MRPT packages")
 				MARK_AS_ADVANCED(LIBUSB_1_DLL_FOR_INSTALL)
@@ -70,7 +72,6 @@ IF(BUILD_KINECT)
 				# All OK:
 				SET(CMAKE_MRPT_HAS_KINECT 1)
 				SET(CMAKE_MRPT_HAS_FREENECT 1)
-				SET(CMAKE_MRPT_HAS_FREENECT_SYSTEM 0)  # use embedded version
 			else (LIBUSB_1_FOUND)
 				# Error:
 				MESSAGE(SEND_ERROR "*** ERROR *** Please, set libusb-1 variables or disable BUILD_KINECT.")
diff -up ./cmakemodules/script_phidget.cmake.systemdeps ./cmakemodules/script_phidget.cmake
--- ./cmakemodules/script_phidget.cmake.systemdeps	2012-07-05 19:11:46.000000000 -0400
+++ ./cmakemodules/script_phidget.cmake	2013-04-13 13:59:14.907285597 -0400
@@ -9,10 +9,10 @@ IF(MRPT_HAS_PHIDGET)
 			SET(CMAKE_MRPT_HAS_PHIDGET 0)
 			MESSAGE("Can't find incude file phidget21.h, please set a correct PHIDGET_ROOT_DIR")
 		ENDIF(NOT EXISTS ${PHIDGET_ROOT_DIR}/include/phidget21.h)
-		IF(NOT EXISTS ${PHIDGET_ROOT_DIR}/lib/libphidget21.so)
+		IF(NOT EXISTS ${PHIDGET_LIB_DIR}/libphidget21.so)
 			SET(CMAKE_MRPT_HAS_PHIDGET 0)
 			MESSAGE("Can't find incude file libphidget21.so, please set a correct PHIDGET_ROOT_DIR")
-		ENDIF(NOT EXISTS ${PHIDGET_ROOT_DIR}/lib/libphidget21.so)
+		ENDIF(NOT EXISTS ${PHIDGET_LIB_DIR}/libphidget21.so)
 	ELSE(UNIX)
 		SET(CMAKE_MRPT_HAS_PHIDGET 0)
 		MESSAGE("The MRPT Phidget library interface is only supported on linux, please turn off MRPT_HAS_PHIDGET")
@@ -22,7 +22,7 @@ ENDIF(MRPT_HAS_PHIDGET)
 
 IF(CMAKE_MRPT_HAS_PHIDGET)
 	INCLUDE_DIRECTORIES("${PHIDGET_ROOT_DIR}/include/")
-	LINK_DIRECTORIES("${PHIDGET_ROOT_DIR}/lib")
+	LINK_DIRECTORIES("${PHIDGET_LIB_DIR}")
 ENDIF(CMAKE_MRPT_HAS_PHIDGET)
 
 # Can only be a system lib:
diff -up ./libs/hwdrivers/CMakeLists.txt.systemdeps ./libs/hwdrivers/CMakeLists.txt
--- ./libs/hwdrivers/CMakeLists.txt.systemdeps	2013-04-13 14:05:51.549479769 -0400
+++ ./libs/hwdrivers/CMakeLists.txt	2013-04-13 14:06:10.436146649 -0400
@@ -18,7 +18,7 @@ ENDIF(CMAKE_MRPT_HAS_xSENS)
 IF(CMAKE_MRPT_HAS_FREENECT)
 	IF (CMAKE_MRPT_HAS_FREENECT_SYSTEM)
 		# No need to build if it's already built in the system:
-		INCLUDE_DIRECTORIES("${OPENKINECT_FREENECT_INCLUDE_DIR}")
+		INCLUDE_DIRECTORIES("${OPENKINECT_FREENECT_INCLUDE_DIRS}")
 	ELSE (CMAKE_MRPT_HAS_FREENECT_SYSTEM)
 		# Embedded version:
 		INCLUDE_DIRECTORIES("${MRPT_LIBS_ROOT}/hwdrivers/src/libfreenect/")