diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt
index 8bd5411e446..437d23fb471 100644
--- a/2d/CMakeLists.txt
+++ b/2d/CMakeLists.txt
@@ -31,8 +31,6 @@ set(impl_incs
 )
 
 if(${VTK_FOUND})
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
   set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging)
 endif()
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9422d97ba90..e847142108a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -366,76 +366,7 @@ endif()
 # Find VTK
 option(WITH_VTK "Build VTK-Visualizations" TRUE)
 if(WITH_VTK AND NOT ANDROID)
-  set(PCL_VTK_COMPONENTS
-    vtkChartsCore
-    vtkCommonCore
-    vtkCommonDataModel
-    vtkCommonExecutionModel
-    vtkFiltersCore
-    vtkFiltersExtraction
-    vtkFiltersModeling
-    vtkImagingCore
-    vtkImagingSources
-    vtkInteractionStyle
-    vtkInteractionWidgets
-    vtkIOCore
-    vtkIOGeometry
-    vtkIOImage
-    vtkIOLegacy
-    vtkIOPLY
-    vtkRenderingAnnotation
-    vtkRenderingLOD
-    vtkViewsContext2D
-  )
-  find_package(VTK COMPONENTS ${PCL_VTK_COMPONENTS})
-  if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 6.2))
-    message(WARNING "The minimum required version of VTK is 6.2, but found ${VTK_VERSION}")
-    set(VTK_FOUND FALSE)
-  endif()
-
-  if(VTK_FOUND)
-    if(NOT DEFINED VTK_RENDERING_BACKEND)
-      # On old VTK versions this variable does not exist. In this case it is
-      # safe to assume OpenGL backend
-      set(VTK_RENDERING_BACKEND "OpenGL")
-    endif()
-    list(APPEND PCL_VTK_COMPONENTS vtkRenderingContext${VTK_RENDERING_BACKEND})
-
-    if(WITH_QT)
-      if(";${VTK_MODULES_ENABLED};" MATCHES ";vtkGUISupportQt;" AND ";${VTK_MODULES_ENABLED};" MATCHES ";vtkRenderingQt;")
-        set(QVTK_FOUND ON)
-        list(APPEND PCL_VTK_COMPONENTS vtkRenderingQt vtkGUISupportQt)
-      else()
-        unset(QVTK_FOUND)
-      endif()
-    endif()
-
-    find_package(VTK COMPONENTS ${PCL_VTK_COMPONENTS})
-
-    message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
-    if(PCL_SHARED_LIBS OR (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
-      if(VTK_USE_FILE)
-        include(${VTK_USE_FILE})
-      endif()
-      message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, libs: ${VTK_LIBRARIES}")
-      if(APPLE)
-        option(VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
-        mark_as_advanced(VTK_USE_COCOA)
-      endif()
-      if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
-        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
-        message(DEPRECATION "The rendering backend OpenGL is deprecated and not available anymore since VTK 8.2."
-                            "Please switch to the OpenGL2 backend instead, which is available since VTK 6.2."
-                            "Support of the deprecated backend will be dropped with PCL 1.13.")
-      elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
-        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
-      endif()
-    else()
-      set(VTK_FOUND OFF)
-      message("Warning: You are to build PCL in STATIC but VTK is SHARED!")
-      message("Warning: VTK disabled!")
-    endif()
-  endif()
+  include("${PCL_SOURCE_DIR}/cmake/pcl_find_vtk.cmake")
 else()
   set(VTK_FOUND OFF)
 endif()
diff --git a/apps/3d_rec_framework/CMakeLists.txt b/apps/3d_rec_framework/CMakeLists.txt
index ec6c56d8fa7..aea22fb66bf 100644
--- a/apps/3d_rec_framework/CMakeLists.txt
+++ b/apps/3d_rec_framework/CMakeLists.txt
@@ -9,7 +9,9 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 endif()
 
 # OpenNI found?
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index c4ef60c6f92..1a559687842 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -34,7 +34,9 @@ if(LIBUSB_1_FOUND)
 endif()
 
 if(VTK_FOUND)
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 
   set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h")
   set(srcs "src/render_views_tesselated_sphere.cpp")
diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
index d70e4bb5439..0dfdedb1e9e 100644
--- a/apps/cloud_composer/CMakeLists.txt
+++ b/apps/cloud_composer/CMakeLists.txt
@@ -14,7 +14,9 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 endif()
 
 # QT5 Found?
diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt
index 7b1d14b5804..1cc01c9851d 100644
--- a/apps/modeler/CMakeLists.txt
+++ b/apps/modeler/CMakeLists.txt
@@ -10,8 +10,10 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+    include("${VTK_USE_FILE}")
+  endif()
 endif()
 
 # QT5 Found?
diff --git a/apps/src/render_views_tesselated_sphere.cpp b/apps/src/render_views_tesselated_sphere.cpp
index e329551b696..57487a1205b 100644
--- a/apps/src/render_views_tesselated_sphere.cpp
+++ b/apps/src/render_views_tesselated_sphere.cpp
@@ -26,6 +26,7 @@
 #include <vtkTransformFilter.h>
 #include <vtkTriangle.h>
 #include <vtkWorldPointPicker.h>
+#include <vtkIdTypeArray.h>
 
 #include <array>
 
@@ -34,7 +35,13 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews()
 {
   // center object
   double CoM[3];
-  vtkIdType npts_com = 0, *ptIds_com = nullptr;
+  vtkIdType npts_com = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds_com = nullptr;
+#else
+  vtkIdType *ptIds_com = nullptr;
+#endif
+
   vtkSmartPointer<vtkCellArray> cells_com = polydata_->GetPolys();
 
   double center[3], p1_com[3], p2_com[3], p3_com[3], totalArea_com = 0;
@@ -95,7 +102,12 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews()
   // * Compute area of the mesh
   //////////////////////////////
   vtkSmartPointer<vtkCellArray> cells = mapper->GetInput()->GetPolys();
-  vtkIdType npts = 0, *ptIds = nullptr;
+  vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds = nullptr;
+#else
+  vtkIdType *ptIds = nullptr;
+#endif
 
   double p1[3], p2[3], p3[3], totalArea = 0;
   for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds);) {
@@ -363,7 +375,12 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews()
       polydata->BuildCells();
 
       vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys();
-      vtkIdType npts = 0, *ptIds = nullptr;
+      vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+      vtkIdType const *ptIds = nullptr;
+#else
+      vtkIdType *ptIds = nullptr;
+#endif
 
       double p1[3], p2[3], p3[3], area, totalArea = 0;
       for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds);) {
diff --git a/cmake/pcl_find_vtk.cmake b/cmake/pcl_find_vtk.cmake
new file mode 100644
index 00000000000..6e5813069ca
--- /dev/null
+++ b/cmake/pcl_find_vtk.cmake
@@ -0,0 +1,136 @@
+#Search for VTK
+find_package(VTK NO_MODULE)
+
+if(NOT VTK_FOUND)
+    return()
+endif()
+
+#Exit if version is below
+if("${VTK_VERSION}" VERSION_LESS 6.2)
+  message(WARNING "The minimum required version of VTK is 6.2, but found ${VTK_VERSION}")
+  set(VTK_FOUND FALSE)
+  return()
+endif()
+
+#Change to use list Transform when cmake is >= 3.12
+if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
+set(PCL_VTK_COMPONENTS
+  ChartsCore
+  CommonColor
+  CommonCore
+  CommonDataModel
+  CommonExecutionModel
+  CommonMath
+  CommonMisc
+  CommonTransforms
+  FiltersCore
+  FiltersExtraction
+  FiltersGeneral
+  FiltersGeometry
+  FiltersModeling
+  FiltersSources
+  ImagingCore
+  ImagingSources
+  InteractionStyle
+  InteractionWidgets
+  IOCore
+  IOGeometry
+  IOImage
+  IOLegacy
+  IOPLY
+  RenderingAnnotation
+  RenderingCore
+  RenderingContext2D
+  RenderingLOD
+  RenderingFreeType
+  RenderingOpenGL2
+  ViewsCore
+  ViewsContext2D
+)
+else()
+set(PCL_VTK_COMPONENTS
+  vtkChartsCore
+  vtkCommonCore
+  vtkCommonDataModel
+  vtkCommonExecutionModel
+  vtkFiltersCore
+  vtkFiltersExtraction
+  vtkFiltersModeling
+  vtkImagingCore
+  vtkImagingSources
+  vtkInteractionStyle
+  vtkInteractionWidgets
+  vtkIOCore
+  vtkIOGeometry
+  vtkIOImage
+  vtkIOLegacy
+  vtkIOPLY
+  vtkRenderingAnnotation
+  vtkRenderingLOD
+  vtkViewsContext2D
+)
+endif()
+
+if(NOT DEFINED VTK_RENDERING_BACKEND)
+# Use OpenGL backend pre 8.1, else use OpenGL2
+if(${VTK_VERSION} VERSION_LESS 8.1)
+    set(VTK_RENDERING_BACKEND "OpenGL")
+  else()
+    set(VTK_RENDERING_BACKEND "OpenGL2")
+  endif()
+endif()
+
+if(${VTK_VERSION} VERSION_LESS 9.0)
+  list(APPEND PCL_VTK_COMPONENTS vtkRenderingContext${VTK_RENDERING_BACKEND})
+else()
+  list(APPEND PCL_VTK_COMPONENTS RenderingUI) # not available < 9.0 so append here.
+  list(APPEND PCL_VTK_COMPONENTS RenderingContext${VTK_RENDERING_BACKEND})
+endif()
+
+message("WITH_QT is:${WITH_QT}")
+if(WITH_QT)
+  message("VTK_MODULES_ENABLED is: ${VTK_MODULES_ENABLED}")
+  if(";${VTK_MODULES_ENABLED};" MATCHES ";vtkGUISupportQt;" AND ";${VTK_MODULES_ENABLED};" MATCHES ";vtkRenderingQt;")
+    set(QVTK_FOUND ON)
+    if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
+      list(APPEND PCL_VTK_COMPONENTS RenderingQt GUISupportQt)
+    else()
+      list(APPEND PCL_VTK_COMPONENTS vtkRenderingQt vtkGUISupportQt)
+    endif()
+  else()
+    unset(QVTK_FOUND)
+  endif()
+endif()
+
+find_package(VTK NO_MODULE COMPONENTS ${PCL_VTK_COMPONENTS})
+
+message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
+
+if(PCL_SHARED_LIBS OR (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    if(VTK_USE_FILE)
+      include(${VTK_USE_FILE})
+    endif()
+    
+    message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, libs: ${VTK_LIBRARIES}")
+  endif()
+  
+  if(APPLE)
+    option(VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
+    mark_as_advanced(VTK_USE_COCOA)
+  endif()
+  
+  if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
+    set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
+    message(DEPRECATION "The rendering backend OpenGL is deprecated and not available anymore since VTK 8.2."
+                        "Please switch to the OpenGL2 backend instead, which is available since VTK 6.2."
+                        "Support of the deprecated backend will be dropped with PCL 1.13.")
+  elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
+    set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
+  endif()
+
+else()
+  set(VTK_FOUND OFF)
+  message("Warning: You are to build PCL in STATIC but VTK is SHARED!")
+  message("Warning: VTK disabled!")
+endif()
diff --git a/examples/keypoints/CMakeLists.txt b/examples/keypoints/CMakeLists.txt
index 133bfed82af..a7ac3c68491 100644
--- a/examples/keypoints/CMakeLists.txt
+++ b/examples/keypoints/CMakeLists.txt
@@ -6,12 +6,14 @@ PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS visualization)
 
 ## Find VTK
 if(NOT VTK_FOUND)
-    set(DEFAULT FALSE)
-    set(REASON "VTK was not found.")
+  set(DEFAULT FALSE)
+  set(REASON "VTK was not found.")
 else()
-    set(DEFAULT TRUE)
-    set(REASON)
+  set(DEFAULT TRUE)
+  set(REASON)
+  if(${VTK_VERSION} VERSION_LESS 9.0)
     include(${VTK_USE_FILE})
+  endif()
 endif()
 
 PCL_ADD_EXAMPLE(pcl_example_sift_keypoint_estimation FILES example_sift_keypoint_estimation.cpp
diff --git a/examples/outofcore/CMakeLists.txt b/examples/outofcore/CMakeLists.txt
index aed932e9b50..7fb93b42e9c 100644
--- a/examples/outofcore/CMakeLists.txt
+++ b/examples/outofcore/CMakeLists.txt
@@ -9,7 +9,9 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include(${VTK_USE_FILE})
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 endif()
 
 PCL_SUBSYS_DEPEND (build ${SUBSYS_NAME} DEPS outofcore io common octree filters visualization EXT_DEPS vtk)
diff --git a/examples/segmentation/CMakeLists.txt b/examples/segmentation/CMakeLists.txt
index 5e672fd8213..ca35a832c2d 100644
--- a/examples/segmentation/CMakeLists.txt
+++ b/examples/segmentation/CMakeLists.txt
@@ -11,7 +11,10 @@ PCL_ADD_EXAMPLE(pcl_example_region_growing FILES example_region_growing.cpp
 
 ## Find VTK
 if(VTK_FOUND)
-  include(${VTK_USE_FILE})
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
+  
   PCL_ADD_EXAMPLE(pcl_example_supervoxels FILES example_supervoxels.cpp
                   LINK_WITH pcl_common pcl_features pcl_segmentation pcl_octree pcl_kdtree pcl_visualization)
   PCL_ADD_EXAMPLE(pcl_example_lccp_segmentation FILES example_lccp_segmentation.cpp
diff --git a/examples/stereo/CMakeLists.txt b/examples/stereo/CMakeLists.txt
index 518d104942b..853090b74ca 100644
--- a/examples/stereo/CMakeLists.txt
+++ b/examples/stereo/CMakeLists.txt
@@ -11,7 +11,9 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include(${VTK_USE_FILE})
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 endif()
 
 PCL_ADD_EXAMPLE(pcl_example_stereo_baseline FILES example_stereo_baseline.cpp
diff --git a/examples/surface/CMakeLists.txt b/examples/surface/CMakeLists.txt
index ec9f030d610..0ff87a34dd7 100644
--- a/examples/surface/CMakeLists.txt
+++ b/examples/surface/CMakeLists.txt
@@ -11,7 +11,9 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include(${VTK_USE_FILE})
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include(${VTK_USE_FILE})
+  endif()
 endif()
 
 PCL_ADD_EXAMPLE(pcl_test_nurbs_fitting_surface
diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt
index 8ef3d920df0..5733516170e 100644
--- a/gpu/kinfu/tools/CMakeLists.txt
+++ b/gpu/kinfu/tools/CMakeLists.txt
@@ -8,8 +8,10 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
+    include(${VTK_USE_FILE})
+  endif()
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 endif()
 
diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt
index 9df2535a5c8..4e10ce821ae 100644
--- a/gpu/kinfu_large_scale/tools/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/tools/CMakeLists.txt
@@ -8,8 +8,10 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
+    include(${VTK_USE_FILE})
+  endif()
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 endif()
 
diff --git a/gpu/people/tools/CMakeLists.txt b/gpu/people/tools/CMakeLists.txt
index 3d45dbc42a7..d47fb301c53 100644
--- a/gpu/people/tools/CMakeLists.txt
+++ b/gpu/people/tools/CMakeLists.txt
@@ -6,8 +6,10 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
+    include(${VTK_USE_FILE})
+  endif()
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 endif()
 
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index f2349710020..d3576576c0e 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -331,10 +331,25 @@ endif()
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 
 add_definitions(${VTK_DEFINES})
+
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
+
 target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-link_directories(${VTK_LINK_DIRECTORIES})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
+
+target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply)
+
+if(VTK_FOUND)
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    link_directories(${VTK_LINK_DIRECTORIES})
+    target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
+  else()
+    target_link_libraries("${LIB_NAME}" 
+                          VTK::IOImage
+                          VTK::IOGeometry
+                          VTK::IOPLY)
+  endif()
+endif()
+
 if(PNG_FOUND)
   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
 endif()
diff --git a/io/src/vtk_lib_io.cpp b/io/src/vtk_lib_io.cpp
index 37e9df4cc7c..35b42d9b724 100644
--- a/io/src/vtk_lib_io.cpp
+++ b/io/src/vtk_lib_io.cpp
@@ -343,7 +343,11 @@ pcl::io::vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::PolygonMe
 
   // Now handle the polygons
   mesh.polygons.resize (nr_polygons);
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *cell_points;
+#else
   vtkIdType* cell_points;
+#endif
   vtkIdType nr_cell_points;
   vtkCellArray * mesh_polygons = poly_data->GetPolys ();
   mesh_polygons->InitTraversal ();
diff --git a/outofcore/tools/CMakeLists.txt b/outofcore/tools/CMakeLists.txt
index 53c63e3940a..37ca2079bf1 100644
--- a/outofcore/tools/CMakeLists.txt
+++ b/outofcore/tools/CMakeLists.txt
@@ -13,8 +13,10 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+    include("${VTK_USE_FILE}")
+  endif()
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 
   set(srcs outofcore_viewer.cpp
diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt
index 4778e2f1c53..66cfede8969 100644
--- a/people/CMakeLists.txt
+++ b/people/CMakeLists.txt
@@ -8,8 +8,6 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
-  include("${VTK_USE_FILE}")
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 endif()
 
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index e5e42311389..6ab1917f084 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -4,7 +4,7 @@ set(SUBSYS_DEPS common search kdtree octree)
 
 set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS qhull)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS qhull)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -149,19 +149,32 @@ set(impl_incs
 )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
 include_directories(
   "${CMAKE_CURRENT_SOURCE_DIR}/include"
   "${CMAKE_CURRENT_SOURCE_DIR}"
 )
-include_directories(SYSTEM
-  ${VTK_INCLUDE_DIRS}
-)
-link_directories(${VTK_LIBRARY_DIRS})
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+
+target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${ON_NURBS_LIBRARIES})
+
+if(VTK_FOUND)
+  if(${VTK_VERSION} VERSION_LESS 9.0)
+    include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
+    link_directories(${VTK_LIBRARY_DIRS})
+    target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
+  else()
+    target_link_libraries("${LIB_NAME}" VTK::CommonDataModel
+                                        VTK::CommonExecutionModel
+                                        VTK::FiltersModeling
+                                        VTK::FiltersCore)
+  endif()
+endif()
+
 if(QHULL_FOUND)
   target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
 endif()
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files
@@ -178,6 +191,7 @@ endif()
 if(VTK_FOUND AND NOT ANDROID)
   PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk_smoothing" ${VTK_SMOOTHING_INCLUDES})
 endif()
+
 if(WIN32)
   target_link_libraries("${LIB_NAME}" Rpcrt4.lib)
 endif()
diff --git a/surface/src/vtk_smoothing/vtk_utils.cpp b/surface/src/vtk_smoothing/vtk_utils.cpp
index cbd8059358f..756b8cce1ab 100644
--- a/surface/src/vtk_smoothing/vtk_utils.cpp
+++ b/surface/src/vtk_smoothing/vtk_utils.cpp
@@ -48,6 +48,7 @@
 #include <vtkPolyData.h>
 #include <vtkPointData.h>
 #include <vtkFloatArray.h>
+#include <vtkUnsignedCharArray.h>
 
 // Support for VTK 7.1 upwards
 #ifdef vtkGenericDataArray_h
@@ -154,7 +155,11 @@ pcl::VTKUtils::vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::Pol
   }
 
   mesh.polygons.resize (nr_polygons);
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *cell_points;
+#else
   vtkIdType* cell_points;
+#endif
   vtkIdType nr_cell_points;
   vtkCellArray * mesh_polygons = poly_data->GetPolys ();
   mesh_polygons->InitTraversal ();
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 1911f7b9f40..5118dc85f5f 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -200,12 +200,18 @@ else()
 
   PCL_ADD_EXECUTABLE(pcl_obj2pcd COMPONENT ${SUBSYS_NAME} SOURCES obj2pcd.cpp)
   target_link_libraries(pcl_obj2pcd pcl_common pcl_io)
+  if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
+    target_link_libraries(pcl_obj2pcd VTK::FiltersCore)
+  endif()
 
   PCL_ADD_EXECUTABLE(pcl_obj2ply COMPONENT ${SUBSYS_NAME} SOURCES obj2ply.cpp)
   target_link_libraries(pcl_obj2ply pcl_common pcl_io)
 
   PCL_ADD_EXECUTABLE(pcl_vtk2pcd COMPONENT ${SUBSYS_NAME} SOURCES vtk2pcd.cpp)
   target_link_libraries(pcl_vtk2pcd pcl_common pcl_io)
+  if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
+    target_link_libraries(pcl_vtk2pcd VTK::FiltersCore)
+  endif()
 
   if(BUILD_visualization)
     PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_model_opps COMPONENT ${SUBSYS_NAME} SOURCES obj_rec_ransac_model_opps.cpp)
diff --git a/tools/mesh_sampling.cpp b/tools/mesh_sampling.cpp
index 23f98d7c1d0..d427c180cc3 100644
--- a/tools/mesh_sampling.cpp
+++ b/tools/mesh_sampling.cpp
@@ -87,7 +87,11 @@ randPSurface (vtkPolyData * polydata, std::vector<double> * cumulativeAreas, dou
 
   double A[3], B[3], C[3];
   vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds = nullptr;
+#else
   vtkIdType *ptIds = nullptr;
+#endif
   polydata->GetCellPoints (el, npts, ptIds);
   polydata->GetPoint (ptIds[0], A);
   polydata->GetPoint (ptIds[1], B);
@@ -138,7 +142,12 @@ uniform_sampling (vtkSmartPointer<vtkPolyData> polydata, std::size_t n_samples,
 
   double p1[3], p2[3], p3[3], totalArea = 0;
   std::vector<double> cumulativeAreas (cells->GetNumberOfCells (), 0);
-  vtkIdType npts = 0, *ptIds = nullptr;
+  vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds = nullptr;
+#else
+  vtkIdType *ptIds = nullptr;
+#endif
   std::size_t cellId = 0;
   for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds); cellId++)
   {
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 990a5f5b2bc..1849cdcc8f9 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -134,14 +134,37 @@ endif()
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
 
-target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${VTK_INCLUDE_DIRS})
-
 # apple workaround (continued)
 if(APPLE)
   target_link_libraries("${LIB_NAME}" "-framework Cocoa")
 endif()
 
-target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${VTK_LIBRARIES} ${OPENGL_LIBRARIES})
+target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${OPENGL_LIBRARIES})
+
+if(${VTK_VERSION} VERSION_LESS 9.0)
+  target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${VTK_INCLUDE_DIRS})
+  target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
+else()
+  #Some libs are referenced through depending on IO
+  target_link_libraries("${LIB_NAME}"
+                        VTK::ChartsCore
+                        VTK::CommonColor
+                        VTK::CommonDataModel
+                        VTK::FiltersExtraction
+                        VTK::FiltersGeneral
+                        VTK::FiltersModeling
+                        VTK::FiltersSources
+                        VTK::IOImage
+                        VTK::IOPLY
+                        VTK::ImagingSources
+                        VTK::InteractionStyle
+                        VTK::RenderingAnnotation
+                        VTK::RenderingContext2D
+                        VTK::RenderingFreeType
+                        VTK::RenderingLOD
+                        VTK::RenderingOpenGL2
+                        VTK::ViewsContext2D)
+endif()
 
 set(EXT_DEPS "")
 if(WITH_OPENNI)
@@ -171,6 +194,12 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/common/impl" ${common_impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk" ${vtk_incs})
 
+if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
+  vtk_module_autoinit(TARGETS "${LIB_NAME}" 
+                      MODULES VTK::RenderingOpenGL2
+                              VTK::RenderingFreeType)
+endif()
+
 if(BUILD_TESTS)
   add_subdirectory(test)
 endif()
diff --git a/visualization/include/pcl/visualization/common/actor_map.h b/visualization/include/pcl/visualization/common/actor_map.h
index 8434d670939..e03aa1805b9 100644
--- a/visualization/include/pcl/visualization/common/actor_map.h
+++ b/visualization/include/pcl/visualization/common/actor_map.h
@@ -43,6 +43,7 @@
 
 #include <vtkLODActor.h>
 #include <vtkSmartPointer.h>
+#include <vtkIdTypeArray.h>
 
 #include <map>
 #include <unordered_map>
diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
index 4b4900e3808..bf8e3d3230a 100644
--- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
@@ -1701,8 +1701,32 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (
   {
     // Create polys from polyMesh.polygons
     vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New ();
-    vtkIdType *cell = cell_array->WritePointer (vertices.size (), vertices.size () * (max_size_of_polygon + 1));
     int idx = 0;
+
+#ifdef VTK_CELL_ARRAY_V2
+    if (!lookup.empty ())
+    {
+      for (std::size_t i = 0; i < vertices.size (); ++i, ++idx)
+      {
+        std::size_t n_points = vertices[i].vertices.size ();
+        cell_array->InsertNextCell (n_points);
+        for (std::size_t j = 0; j < n_points; j++, ++idx)
+          cell_array->InsertCellPoint (lookup[vertices[i].vertices[j]]);
+      }
+    }
+    else
+    {
+      for (std::size_t i = 0; i < vertices.size (); ++i, ++idx)
+      {
+        std::size_t n_points = vertices[i].vertices.size ();
+        cell_array->InsertNextCell (n_points);
+        for (std::size_t j = 0; j < n_points; j++, ++idx)
+          cell_array->InsertCellPoint (vertices[i].vertices[j]);
+      }
+    }
+#else
+    vtkIdType *cell = cell_array->WritePointer (vertices.size (), vertices.size () * (max_size_of_polygon + 1));
+
     if (!lookup.empty ())
     {
       for (std::size_t i = 0; i < vertices.size (); ++i, ++idx)
@@ -1727,6 +1751,7 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (
           //cell_array->InsertCellPoint (vertices[i].vertices[j]);
       }
     }
+#endif
     vtkSmartPointer<vtkPolyData> polydata;
     allocVtkPolyData (polydata);
     cell_array->GetData ()->SetNumberOfValues (idx);
@@ -1878,8 +1903,36 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
 
   // Update the cells
   cells = vtkSmartPointer<vtkCellArray>::New ();
-  vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
   int idx = 0;
+
+#ifdef VTK_CELL_ARRAY_V2
+  if (!lookup.empty ())
+  {
+    for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+    {
+      std::size_t n_points = verts[i].vertices.size ();
+      cells->InsertNextCell (n_points);
+      for (std::size_t j = 0; j < n_points; j++, ++idx)
+      {
+        cells->InsertCellPoint (lookup[verts[i].vertices[j]]);
+
+      }
+    }
+  }
+  else
+  {
+    for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+    {
+      std::size_t n_points = verts[i].vertices.size ();
+      cells->InsertNextCell (n_points);
+      for (std::size_t j = 0; j < n_points; j++, ++idx)
+      {
+        cells->InsertCellPoint(verts[i].vertices[j]);
+      }
+    }
+  }
+#else
+  vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
   if (!lookup.empty ())
   {
     for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
@@ -1900,6 +1953,7 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
         *cell = verts[i].vertices[j];
     }
   }
+#endif
   cells->GetData ()->SetNumberOfValues (idx);
   cells->Squeeze ();
   // Set the the vertices
diff --git a/visualization/include/pcl/visualization/interactor_style.h b/visualization/include/pcl/visualization/interactor_style.h
index 0f166b75dd2..a1f17238e0e 100644
--- a/visualization/include/pcl/visualization/interactor_style.h
+++ b/visualization/include/pcl/visualization/interactor_style.h
@@ -51,6 +51,8 @@
 #include <boost/signals2/signal.hpp>
 #endif
 #include <vtkInteractorStyleRubberBandPick.h>
+#include <vtkRendererCollection.h>
+#include <vtkRenderWindow.h>
 
 class vtkRendererCollection;
 class vtkLegendScaleActor;
diff --git a/visualization/src/cloud_viewer.cpp b/visualization/src/cloud_viewer.cpp
index b0b32a1af2d..83fa99bbafa 100644
--- a/visualization/src/cloud_viewer.cpp
+++ b/visualization/src/cloud_viewer.cpp
@@ -40,6 +40,9 @@
 #include <pcl/visualization/boost.h>
 #include <pcl/memory.h>
 
+#include <vtkOrientationMarkerWidget.h>
+#include <vtkRenderWindowInteractor.h>
+
 #include <mutex>
 #include <thread>
 
diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp
index 4740577cfbf..f2efbdfd96d 100644
--- a/visualization/src/interactor_style.cpp
+++ b/visualization/src/interactor_style.cpp
@@ -36,6 +36,7 @@
  *
  */
 
+#include <fstream>
 #include <list>
 #include <pcl/common/angles.h>
 #include <pcl/visualization/common/io.h>
@@ -137,7 +138,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::saveCameraParameters (const st
 {
   FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
 
-  ofstream ofs_cam (file.c_str ());
+  std::ofstream ofs_cam (file.c_str ());
   if (!ofs_cam.is_open ())
   {
     return (false);
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 0d6f9a44065..45bd2956c30 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -3160,8 +3160,33 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
 
   // Update the cells
   cells = vtkSmartPointer<vtkCellArray>::New ();
-  vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
   int idx = 0;
+
+#ifdef VTK_CELL_ARRAY_V2
+  if (!lookup.empty ())
+  {
+    for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+    {
+      std::size_t n_points = verts[i].vertices.size ();
+      cells->InsertNextCell(n_points);
+      for (std::size_t j = 0; j < n_points; j++, ++idx)
+        cells->InsertCellPoint(lookup[verts[i].vertices[j]]);
+    }
+  }
+  else
+  {
+    for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+    {
+      std::size_t n_points = verts[i].vertices.size ();
+      cells->InsertNextCell(n_points);
+      for (std::size_t j = 0; j < n_points; j++, ++idx)
+      {
+        cells->InsertCellPoint(verts[i].vertices[j]);
+      }
+    }
+  }
+#else
+  vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
   if (!lookup.empty ())
   {
     for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
@@ -3182,6 +3207,7 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
         *cell = verts[i].vertices[j];
     }
   }
+#endif
   cells->GetData ()->SetNumberOfValues (idx);
   cells->Squeeze ();
   // Set the the vertices
@@ -3552,7 +3578,12 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
 
   //center object
   double CoM[3];
-  vtkIdType npts_com = 0, *ptIds_com = nullptr;
+  vtkIdType npts_com = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds_com = nullptr;
+#else
+  vtkIdType *ptIds_com = nullptr;
+#endif
   vtkSmartPointer<vtkCellArray> cells_com = polydata->GetPolys ();
 
   double center[3], p1_com[3], p2_com[3], p3_com[3], totalArea_com = 0;
@@ -3611,7 +3642,12 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
   // * Compute area of the mesh
   //////////////////////////////
   vtkSmartPointer<vtkCellArray> cells = mapper->GetInput ()->GetPolys ();
-  vtkIdType npts = 0, *ptIds = nullptr;
+  vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+  vtkIdType const *ptIds = nullptr;
+#else
+  vtkIdType *ptIds = nullptr;
+#endif
 
   double p1[3], p2[3], p3[3], totalArea = 0;
   for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds);)
@@ -3830,7 +3866,12 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
     polydata->BuildCells ();
 
     vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys ();
-    vtkIdType npts = 0, *ptIds = nullptr;
+    vtkIdType npts = 0;
+#ifdef VTK_CELL_ARRAY_V2
+    vtkIdType const *ptIds = nullptr;
+#else
+    vtkIdType *ptIds = nullptr;
+#endif
 
     double p1[3], p2[3], p3[3], area, totalArea = 0;
     for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds);)