diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 997bef3e1..160214d5b 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -4,15 +4,19 @@ project(cv_bridge)
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
 if(NOT ANDROID)
-  find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
+  find_package(PythonLibs REQUIRED)
+  find_package(PythonInterp REQUIRED)
+  find_package(Boost QUIET)
+  if(Boost_VERSION LESS 106700)
+    set(BOOST_PYTHON_COMPONENT_SUFFIX "-py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}")
   else()
-    find_package(Boost REQUIRED python3)
+    set(BOOST_PYTHON_COMPONENT_SUFFIX "${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}")
   endif()
+  find_package(Boost REQUIRED COMPONENTS python${BOOST_PYTHON_COMPONENT_SUFFIX})
 else()
-find_package(Boost REQUIRED)
+  find_package(Boost REQUIRED)
 endif()
+
 find_package(OpenCV 3 REQUIRED
   COMPONENTS
     opencv_core