diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1faa317b..2157fffb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -264,7 +264,7 @@ endif()
 
 # OpenMP ("-fopenmp" should be added for flann included in PCL)
 # the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
-if(((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) AND WITH_OPENMP)
+if(WITH_OPENMP)
   find_package(OpenMP COMPONENTS C CXX)
 endif()
 if(OPENMP_FOUND)
@@ -633,10 +633,12 @@ IF(WITH_REALSENSE)
 ENDIF(WITH_REALSENSE)
 
 IF(WITH_REALSENSE2)
-    IF(WIN32)
+    IF(0)
         FIND_PACKAGE(RealSense2 QUIET)
     ELSE()
         FIND_PACKAGE(realsense2 QUIET)
+        set(RealSense2_LIBRARIES realsense2::realsense2)
+        set(realsense2_LIBRARIES realsense2::realsense2)
     ENDIF()
     IF(realsense2_FOUND)
        MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}")
@@ -977,14 +979,14 @@ IF(NOT realsense2_FOUND)
    SET(CONF_WITH_REALSENSE2 0)
 ELSE()
    SET(CONF_WITH_REALSENSE2 1)
-   IF(WIN32)
+   IF(0)
       install(
          FILES
          "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/FindRealSense2.cmake"
          DESTINATION ${INSTALL_CMAKE_DIR}/Modules/.
          COMPONENT devel
       )
-   ENDIF(WIN32)
+   ENDIF(0)
 ENDIF()
 IF(NOT mynteye_FOUND)
    SET(MYNTEYE "//")
diff --git a/utilite/resource_generator/CMakeLists.txt b/utilite/resource_generator/CMakeLists.txt
index 82f12535..f1a1c8aa 100644
--- a/utilite/resource_generator/CMakeLists.txt
+++ b/utilite/resource_generator/CMakeLists.txt
@@ -1,5 +1,5 @@
 
-if (CMAKE_CROSSCOMPILING OR ANDROID OR IOS)
+if (CMAKE_CROSSCOMPILING OR ANDROID OR IOS OR RTABMAP_RES_TOOL)
     # See this page about tools being required in the build:
     # https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/CrossCompiling#using-executables-in-the-build-created-during-the-build