diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 942cb0fac..69ffc9fcc 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -66,7 +66,15 @@ if(NOT CV_BRIDGE_DISABLE_PYTHON)
   )
 endif()
 
+# add library
+add_library(${PROJECT_NAME})
 add_subdirectory(src)
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(${PROJECT_NAME} PUBLIC Boost::python)
 
 # cv_bridge_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
 # the project library that they link against is on the library path.
diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
index 76ccfd9f9..38fcd6e4c 100644
--- a/cv_bridge/src/CMakeLists.txt
+++ b/cv_bridge/src/CMakeLists.txt
@@ -1,15 +1,14 @@
-# add library
-add_library(${PROJECT_NAME}
+target_sources(${PROJECT_NAME} PRIVATE 
   cv_bridge.cpp
   cv_mat_sensor_msgs_image_type_adapter.cpp
   rgb_colors.cpp
 )
 include(GenerateExportHeader)
 generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME ${PROJECT_NAME}/${PROJECT_NAME}_export.h)
-target_include_directories(${PROJECT_NAME} PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>"
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+)
 target_link_libraries(${PROJECT_NAME} PUBLIC
   ${sensor_msgs_TARGETS}
   opencv_core