diff --git a/g2o/solvers/eigen/CMakeLists.txt b/g2o/solvers/eigen/CMakeLists.txt
index 3f4da3008..8dae9fda8 100644
--- a/g2o/solvers/eigen/CMakeLists.txt
+++ b/g2o/solvers/eigen/CMakeLists.txt
@@ -9,8 +9,8 @@ endif()
 target_link_libraries(solver_eigen core)
 
 target_include_directories(solver_eigen PUBLIC
-  "$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${PROJECT_BINARY_DIR}>"
-  $<INSTALL_INTERFACE:include/g2o/solver_eigen>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/solvers/eigen>
 )
 
 install(TARGETS solver_eigen
diff --git a/g2o/types/data/CMakeLists.txt b/g2o/types/data/CMakeLists.txt
index ba4d1b219..087ea76a6 100644
--- a/g2o/types/data/CMakeLists.txt
+++ b/g2o/types/data/CMakeLists.txt
@@ -21,6 +21,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_data freeglut_minimal opengl_helper)
 endif()
 
+target_include_directories(types_data PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/data>)
+
 install(TARGETS types_data
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/icp/CMakeLists.txt b/g2o/types/icp/CMakeLists.txt
index 02c80e829..7d0dfa471 100644
--- a/g2o/types/icp/CMakeLists.txt
+++ b/g2o/types/icp/CMakeLists.txt
@@ -9,6 +9,10 @@ if (APPLE)
 endif()
 target_link_libraries(types_icp types_sba types_slam3d)
 
+target_include_directories(types_icp PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/icp>)
+
 install(TARGETS types_icp
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/sba/CMakeLists.txt b/g2o/types/sba/CMakeLists.txt
index 4781c71b8..b8d6650f3 100644
--- a/g2o/types/sba/CMakeLists.txt
+++ b/g2o/types/sba/CMakeLists.txt
@@ -36,6 +36,10 @@ if (APPLE)
 endif()
 target_link_libraries(types_sba core types_slam3d)
 
+target_include_directories(types_sba PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/sba>)
+
 install(TARGETS types_sba
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/sclam2d/CMakeLists.txt b/g2o/types/sclam2d/CMakeLists.txt
index 499485201..ec7ba823c 100644
--- a/g2o/types/sclam2d/CMakeLists.txt
+++ b/g2o/types/sclam2d/CMakeLists.txt
@@ -16,6 +16,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_sclam2d opengl_helper)
 endif()
 
+target_include_directories(types_sclam2d PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/sclam2d>)
+
 install(TARGETS types_sclam2d
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/sim3/CMakeLists.txt b/g2o/types/sim3/CMakeLists.txt
index f4abbb512..6737e085f 100644
--- a/g2o/types/sim3/CMakeLists.txt
+++ b/g2o/types/sim3/CMakeLists.txt
@@ -9,6 +9,10 @@ if (APPLE)
 endif()
 target_link_libraries(types_sim3 PUBLIC types_sba)
 
+target_include_directories(types_sim3 PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/sim3>)
+
 install(TARGETS types_sim3
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/slam2d/CMakeLists.txt b/g2o/types/slam2d/CMakeLists.txt
index a565f5fdc..067cf139b 100644
--- a/g2o/types/slam2d/CMakeLists.txt
+++ b/g2o/types/slam2d/CMakeLists.txt
@@ -26,6 +26,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_slam2d opengl_helper)
 endif()
 
+target_include_directories(types_slam2d PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/slam2d>)
+
 install(TARGETS types_slam2d
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/slam2d_addons/CMakeLists.txt b/g2o/types/slam2d_addons/CMakeLists.txt
index 73d1768bd..4474ffae8 100644
--- a/g2o/types/slam2d_addons/CMakeLists.txt
+++ b/g2o/types/slam2d_addons/CMakeLists.txt
@@ -21,6 +21,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_slam2d_addons opengl_helper)
 endif()
 
+target_include_directories(types_slam2d_addons PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/slam2d_addons>)
+
 install(TARGETS types_slam2d_addons
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/slam3d/CMakeLists.txt b/g2o/types/slam3d/CMakeLists.txt
index 0efd4ba23..467b0d1da 100644
--- a/g2o/types/slam3d/CMakeLists.txt
+++ b/g2o/types/slam3d/CMakeLists.txt
@@ -49,6 +49,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_slam3d opengl_helper)
 endif()
 
+target_include_directories(types_slam3d PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/slam3d>)
+
 install(TARGETS types_slam3d
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
diff --git a/g2o/types/slam3d_addons/CMakeLists.txt b/g2o/types/slam3d_addons/CMakeLists.txt
index e68aa351c..9c9f827f8 100644
--- a/g2o/types/slam3d_addons/CMakeLists.txt
+++ b/g2o/types/slam3d_addons/CMakeLists.txt
@@ -26,6 +26,10 @@ if(G2O_HAVE_OPENGL)
   target_link_libraries(types_slam3d_addons opengl_helper)
 endif()
 
+target_include_directories(types_slam3d_addons PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include/g2o/types/slam3d_addons>)
+
 install(TARGETS types_slam3d_addons
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}