diff --git a/cpp/kiss_icp/3rdparty/eigen/eigen.cmake b/cpp/kiss_icp/3rdparty/eigen/eigen.cmake
index edc206fa..cc56e043 100644
--- a/cpp/kiss_icp/3rdparty/eigen/eigen.cmake
+++ b/cpp/kiss_icp/3rdparty/eigen/eigen.cmake
@@ -32,6 +32,5 @@ set(EIGEN_BUILD_BLAS OFF CACHE BOOL "Don't build blas module")
 set(EIGEN_BUILD_LAPACK OFF CACHE BOOL "Don't build lapack module")
 
 include(FetchContent)
-FetchContent_Declare(eigen URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz EXCLUDE_FROM_ALL
-                               SYSTEM)
+FetchContent_Declare(eigen GIT_REPOSITORY https://gitlab.com/libeigen/eigen GIT_TAG 3.4 EXCLUDE_FROM_ALL SYSTEM)
 FetchContent_MakeAvailable(eigen)
diff --git a/cpp/kiss_icp/3rdparty/sophus/sophus.cmake b/cpp/kiss_icp/3rdparty/sophus/sophus.cmake
index c5524018..8f7eda7a 100644
--- a/cpp/kiss_icp/3rdparty/sophus/sophus.cmake
+++ b/cpp/kiss_icp/3rdparty/sophus/sophus.cmake
@@ -25,6 +25,5 @@ set(SOPHUS_USE_BASIC_LOGGING ON CACHE BOOL "Don't use fmt for Sophus libraru")
 set(BUILD_SOPHUS_TESTS OFF CACHE BOOL "Don't build Sophus tests")
 set(BUILD_SOPHUS_EXAMPLES OFF CACHE BOOL "Don't build Sophus Examples")
 
-# TODO: after https://github.com/strasdat/Sophus/pull/502 gets merged go back to mainstream
-FetchContent_Declare(sophus SYSTEM URL https://github.com/nachovizzo/Sophus/archive/refs/tags/1.22.11.tar.gz)
+FetchContent_Declare(sophus SYSTEM GIT_REPOSITORY https://github.com/strasdat/Sophus.git GIT_TAG 1.22.10)
 FetchContent_MakeAvailable(sophus)