diff --git a/CMakeLists.txt b/CMakeLists.txt
index e432e0eb..a23a95ef 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -243,16 +243,10 @@ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
 SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
 
 # Find Eigen3
-SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE})
-FIND_PACKAGE(Eigen3)
-IF(EIGEN3_FOUND)
-  SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")
-ELSE(EIGEN3_FOUND)
-  SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3")
-ENDIF(EIGEN3_FOUND)
+FIND_PACKAGE(Eigen3 REQUIRED)
 
 # Set up the top-level include directories
-INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${G2O_EIGEN3_INCLUDE})
+INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${EIGEN3_INCLUDE_DIR})
 
 # Generate config.h
 SET(G2O_OPENGL_FOUND ${OPENGL_FOUND})
diff --git a/g2o/solvers/eigen/CMakeLists.txt b/g2o/solvers/eigen/CMakeLists.txt
index be66cfd3..5fe9d6d7 100644
--- a/g2o/solvers/eigen/CMakeLists.txt
+++ b/g2o/solvers/eigen/CMakeLists.txt
@@ -1,5 +1,3 @@
-INCLUDE_DIRECTORIES(${G2O_EIGEN3_INCLUDE})
-
 ADD_LIBRARY(solver_eigen ${G2O_LIB_TYPE}
   solver_eigen.cpp
   linear_solver_eigen.h