diff --git a/cmake/VISPGenerateConfig.cmake b/cmake/VISPGenerateConfig.cmake
index 01b548313f..340cff6308 100644
--- a/cmake/VISPGenerateConfig.cmake
+++ b/cmake/VISPGenerateConfig.cmake
@@ -41,14 +41,19 @@
 # output: path_to_parent, the relative path to go from path_to_child to parent
 # example: if input =lib/x86_64-linux-gnu, then output=../..
 macro(get_path_to_parent path_to_child path_to_parent)
-  set(${path_to_parent} "")
-  set(input_ "${path_to_child}")
-  while(input_)
-    if(input_)
-      set(${path_to_parent} "${${path_to_parent}}../")
-    endif()
-    get_filename_component(input_ "${input_}" PATH)
-  endwhile(input_)
+  if(IS_ABSOLUTE ${path_to_child})
+    file(RELATIVE_PATH _path_to_parent "${path_to_child}" "${CMAKE_INSTALL_PREFIX}")
+    string(REGEX REPLACE "/$" "" ${path_to_parent} "${_path_to_parent}")
+  else()
+    set(${path_to_parent} "")
+    set(input_ "${path_to_child}")
+    while(input_)
+      if(input_)
+        set(${path_to_parent} "${${path_to_parent}}../")
+      endif()
+      get_filename_component(input_ "${input_}" PATH)
+    endwhile(input_)
+  endif()
 endmacro()
 
 # Here we determine the relative path from ./${VISP_LIB_INSTALL_PATH} to its parent folder
diff --git a/cmake/VISPGenerateConfigScript.cmake b/cmake/VISPGenerateConfigScript.cmake
index 17d4809160..04489e5dce 100644
--- a/cmake/VISPGenerateConfigScript.cmake
+++ b/cmake/VISPGenerateConfigScript.cmake
@@ -343,8 +343,16 @@ else() # DEFINED CMAKE_HELPER_SCRIPT
     # Updates VISP_SCRIPT_PC_LIBS (for visp.pc used by pkg-config)
     #----------------------------------------------------------------------
     set(exec_prefix "\${prefix}")
-    set(includedir  "\${prefix}/${VISP_INC_INSTALL_PATH}")
-    set(libdir      "\${prefix}/${VISP_LIB_INSTALL_PATH}")
+    if(IS_ABSOLUTE ${VISP_INC_INSTALL_PATH})
+      set(includedir  "${VISP_INC_INSTALL_PATH}")
+    else()
+      set(includedir  "\${prefix}/${VISP_INC_INSTALL_PATH}")
+    endif()
+    if(IS_ABSOLUTE ${VISP_LIB_INSTALL_PATH})
+      set(libdir      "${VISP_LIB_INSTALL_PATH}")
+    else()
+      set(libdir      "\${prefix}/${VISP_LIB_INSTALL_PATH}")
+    endif()
 
     # prepend with ViSP own include dir
     set(VISP_SCRIPT_PC_CFLAGS
@@ -356,18 +364,33 @@ else() # DEFINED CMAKE_HELPER_SCRIPT
     vp_list_remove_separator(VISP_SCRIPT_PC_CFLAGS)
 
     # prepend with ViSP own modules first
-    set(VISP_SCRIPT_PC_LIBS
-      "-L\${exec_prefix}/${VISP_LIB_INSTALL_PATH}"
-      "${_modules}"
-    )
+    if(IS_ABSOLUTE ${VISP_LIB_INSTALL_PATH})
+      set(VISP_SCRIPT_PC_LIBS
+        "-L${VISP_LIB_INSTALL_PATH}"
+        "${_modules}"
+      )
+    else()
+      set(VISP_SCRIPT_PC_LIBS
+        "-L\${exec_prefix}/${VISP_LIB_INSTALL_PATH}"
+        "${_modules}"
+      )
+    endif()
     if(BUILD_SHARED_LIBS)
       set(VISP_SCRIPT_PC_LIBS_PRIVATE "${_extra_opt}")
     else()
-      set(VISP_SCRIPT_PC_LIBS_PRIVATE
-        "-L\${exec_prefix}/${VISP_3P_LIB_INSTALL_PATH}"
-        "${_3rdparty}"
-        "${_extra_opt}"
-      )
+      if(IS_ABSOLUTE ${VISP_3P_LIB_INSTALL_PATH})
+        set(VISP_SCRIPT_PC_LIBS_PRIVATE
+          "-L${VISP_3P_LIB_INSTALL_PATH}"
+          "${_3rdparty}"
+          "${_extra_opt}"
+        )
+      else()
+        set(VISP_SCRIPT_PC_LIBS_PRIVATE
+          "-L\${exec_prefix}/${VISP_3P_LIB_INSTALL_PATH}"
+          "${_3rdparty}"
+          "${_extra_opt}"
+        )
+      endif()
     endif()
 
     vp_list_remove_separator(VISP_SCRIPT_PC_LIBS)