diff --git a/cmake/VISPGenerateConfig.cmake b/cmake/VISPGenerateConfig.cmake
index 84710a2903..589dad8dc5 100644
--- a/cmake/VISPGenerateConfig.cmake
+++ b/cmake/VISPGenerateConfig.cmake
@@ -144,6 +144,7 @@ if(UNIX)
   set(VISP_INCLUDE_DIRS_CONFIGCMAKE "\${VISP_INSTALL_PATH}/${VISP_INC_INSTALL_PATH}")
   foreach(m ${VISP_MODULES_BUILD})
     list(APPEND VISP_INCLUDE_DIRS_CONFIGCMAKE ${VISP_MODULE_${m}_INC_DEPS})
+    list(APPEND VISP_INCLUDE_DIRS_CONFIGCMAKE ${VISP_MODULE_${m}_SYSTEM_INC_DEPS})
   endforeach()
   vp_list_unique(VISP_INCLUDE_DIRS_CONFIGCMAKE)
 endif()
@@ -164,6 +165,7 @@ if(WIN32)
   set(VISP_INCLUDE_DIRS_CONFIGCMAKE "\${VISP_CONFIG_PATH}/${VISP_INC_INSTALL_PATH}")
   foreach(m ${VISP_MODULES_BUILD})
     list(APPEND VISP_INCLUDE_DIRS_CONFIGCMAKE ${VISP_MODULE_${m}_INC_DEPS})
+    list(APPEND VISP_INCLUDE_DIRS_CONFIGCMAKE ${VISP_MODULE_${m}_SYSTEM_INC_DEPS})
   endforeach()
   vp_list_unique(VISP_INCLUDE_DIRS_CONFIGCMAKE)
 
diff --git a/cmake/VISPModule.cmake b/cmake/VISPModule.cmake
index fa4d1a54c8..c4fc939f4e 100644
--- a/cmake/VISPModule.cmake
+++ b/cmake/VISPModule.cmake
@@ -86,6 +86,7 @@ foreach(mod ${VISP_MODULES_BUILD} ${VISP_MODULES_DISABLED_USER} ${VISP_MODULES_D
   unset(VISP_MODULE_${mod}_PRIVATE_OPT_DEPS CACHE)
   unset(VISP_MODULE_${mod}_LINK_DEPS CACHE)
   unset(VISP_MODULE_${mod}_INC_DEPS CACHE)
+  unset(VISP_MODULE_${mod}_SYSTEM_INC_DEPS CACHE)
   unset(VISP_MODULE_${mod}_WRAPPERS CACHE)
 endforeach()
 
@@ -179,6 +180,7 @@ macro(vp_add_module _name)
 
     set(VISP_MODULE_${the_module}_LINK_DEPS "" CACHE INTERNAL "")
     set(VISP_MODULE_${the_module}_INC_DEPS "" CACHE INTERNAL "")
+    set(VISP_MODULE_${the_module}_SYSTEM_INC_DEPS "" CACHE INTERNAL "")
 
     # parse list of dependencies
     if("${ARGV1}" STREQUAL "INTERNAL" OR "${ARGV1}" STREQUAL "BINDINGS")
@@ -606,7 +608,6 @@ macro(vp_target_include_modules target)
   endforeach()
   vp_list_unique(VISP_MODULE_${the_module}_INC_DEPS)
   vp_list_unique(VISP_MODULE_${the_module}_SYSTEM_INC_DEPS)
-
 endmacro()
 
 # setup include paths for the list of passed modules and recursively add dependent modules
@@ -836,12 +837,22 @@ macro(_vp_create_module)
     target_compile_definitions(${the_module} PRIVATE visp_EXPORTS)
   endif()
 
-  set_property(TARGET ${the_module} APPEND PROPERTY
-    INTERFACE_INCLUDE_DIRECTORIES ${VISP_MODULE_${the_module}_INC_DEPS}
-  )
-  set_property(TARGET ${the_module} APPEND PROPERTY
-    INTERFACE_SYSTEM_INCLUDE_DIRECTORIES ${VISP_MODULE_${the_module}_SYSTEM_INC_DEPS}
-  )
+  #set_property(TARGET ${the_module} APPEND PROPERTY
+  #  # Here we need also to add system include dirs, otherwise they are missing
+  #  INTERFACE_INCLUDE_DIRECTORIES ${VISP_MODULE_${the_module}_INC_DEPS} ${VISP_MODULE_${the_module}_SYSTEM_INC_DEPS}
+  #)
+  #set_property(TARGET ${the_module} APPEND PROPERTY
+  #  INTERFACE_SYSTEM_INCLUDE_DIRECTORIES ${VISP_MODULE_${the_module}_SYSTEM_INC_DEPS}
+  #)
+  set(inc "${VISP_MODULE_${the_module}_INC_DEPS};${VISP_MODULE_${the_module}_SYSTEM_INC_DEPS}")
+  if(NOT (CMAKE_VERSION VERSION_LESS "3.11.0"))  # https://gitlab.kitware.com/cmake/cmake/-/merge_requests/1264 : eliminates "Cannot specify compile definitions for imported target" error message
+    target_include_directories(${the_module} SYSTEM INTERFACE "$<BUILD_INTERFACE:${inc}>")
+  else()
+    set_target_properties(${the_module} PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "$<BUILD_INTERFACE:${inc}>"
+        INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "$<BUILD_INTERFACE:${inc}>"
+    )
+  endif()
 
   # For dynamic link numbering convenions
   if(NOT ANDROID)
diff --git a/cmake/VISPUtils.cmake b/cmake/VISPUtils.cmake
index 4a332e02a2..e3094740e1 100644
--- a/cmake/VISPUtils.cmake
+++ b/cmake/VISPUtils.cmake
@@ -214,12 +214,10 @@ function(vp_target_include_directories target)
     if(TARGET ${target})
       target_include_directories(${target} SYSTEM PRIVATE ${__system_params})
     else()
-      set(__new_inc ${VP_TARGET_INCLUDE_SYSTEM_DIRS_${target}})
-      list(APPEND __new_inc ${__system_params})
+      set(__new_inc "${VP_TARGET_INCLUDE_SYSTEM_DIRS_${target}};${__system_params}")
       set(VP_TARGET_INCLUDE_SYSTEM_DIRS_${target} "${__new_inc}" CACHE INTERNAL "")
     endif()
   endif()
-
 endfunction()
 
 # clears all passed variables
@@ -794,10 +792,12 @@ function(vp_target_link_libraries target)
 endfunction()
 
 function(_vp_append_target_includes target)
+  # Only defined for visp_<module> targets
   if(DEFINED VP_TARGET_INCLUDE_DIRS_${target})
     target_include_directories(${target} PRIVATE ${VP_TARGET_INCLUDE_DIRS_${target}})
     unset(VP_TARGET_INCLUDE_DIRS_${target} CACHE)
   endif()
+  # Only defined for visp_<module> targets
   if(DEFINED VP_TARGET_INCLUDE_SYSTEM_DIRS_${target})
     target_include_directories(${target} SYSTEM PRIVATE ${VP_TARGET_INCLUDE_SYSTEM_DIRS_${target}})
     unset(VP_TARGET_INCLUDE_SYSTEM_DIRS_${target} CACHE)
@@ -1643,7 +1643,7 @@ macro(vp_get_all_includes _includes_modules _includes_extra _system_include_dirs
 
   foreach(m ${VISP_MODULES_BUILD})
     list(APPEND ${_includes_extra} ${VISP_MODULE_${m}_INC_DEPS})
-    list(APPEND ${_system_include_dirs} ${VISP_MODULE_${m}_SYSTEM_INC_DEPS})
+    list(APPEND ${_includes_extra} ${VISP_MODULE_${m}_SYSTEM_INC_DEPS})
 
     if(EXISTS "${VISP_MODULE_${m}_LOCATION}/include")
       list(INSERT ${_includes_modules} 0 "${VISP_MODULE_${m}_LOCATION}/include")