diff --git a/CMakeLists.txt b/CMakeLists.txt
index a1d9bb5..bf64c46 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -359,10 +359,8 @@ if(WITH_QHULL)
   if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32))
     set(QHULL_USE_STATIC ON)
   endif()
-  find_package(Qhull)
-  if(QHULL_FOUND)
-    include_directories(SYSTEM ${QHULL_INCLUDE_DIRS})
-  endif()
+  find_package(QHULL NAMES Qhull CONFIG REQUIRED)
+  set(HAVE_QHULL ON)
 endif()
 
 # Cuda
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index a1283a8..32f95b3 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -26,6 +26,7 @@ endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
 
+include(CMakeFindDependencyMacro)
 ### ---[ some useful macros
 macro(pcl_report_not_found _reason)
   unset(PCL_FOUND)
@@ -136,7 +137,7 @@ macro(find_qhull)
   endif()
 
   set(QHULL_USE_STATIC @QHULL_USE_STATIC@)
-  find_package(Qhull)
+  find_dependency(QHULL NAMES Qhull CONFIG)
 endmacro()
 
 #remove this as soon as libopenni is shipped with FindOpenni.cmake
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index d8a8566..a629b2a 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -187,6 +187,11 @@ if(VTK_FOUND)
 endif()
 
 if(QHULL_FOUND)
+  if(QHULL_USE_STATIC)
+    set(QHULL_LIBRARIES Qhull::qhullcpp Qhull::qhullstatic Qhull::qhullstatic_r)
+  else()
+    set(QHULL_LIBRARIES Qhull::qhull_r Qhull::qhullcpp)
+  endif()
   target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
 endif()