Remove tbb usage to keep it simple to control number of threads

Also kill header to avoid polluting this with more files, hiding this
implementation we don't even care seems fine to me :)

python/kiss_icp/pybind/kiss_icp_pybind.cpp

@@ -27,6 +27,8 @@
 #include <pybind11/stl_bind.h>
 
 #include <Eigen/Core>
+#include <algorithm>
+#include <cmath>
 #include <memory>
 #include <vector>
 
@@ -36,7 +38,6 @@
 #include "kiss_icp/core/Threshold.hpp"
 #include "kiss_icp/core/VoxelHashMap.hpp"
 #include "kiss_icp/metrics/Metrics.hpp"
-#include "kitti.hpp"
 #include "stl_vector_eigen.h"
 
 namespace py = pybind11;
@@ -119,7 +120,22 @@ PYBIND11_MODULE(kiss_icp_pybind, m) {
     // prerpocessing modules
     m.def("_voxel_down_sample", &VoxelDownsample, "frame"_a, "voxel_size"_a);
     m.def("_preprocess", &Preprocess, "frame"_a, "max_range"_a, "min_range"_a);
-    m.def("_correct_kitti_scan", &CorrectKITTIScan, "frame"_a);
+
+    /// This function only applies for the KITTI dataset, and should NOT be used by any other
+    /// dataset, the original idea and part of the implementation is taking from CT-ICP(Although
+    /// IMLS-SLAM Originally introduced the calibration factor)
+    m.def(
+        "_correct_kitti_scan",
+        [](const std::vector<Eigen::Vector3d> &frame) {
+            constexpr double VERTICAL_ANGLE_OFFSET = (0.205 * M_PI) / 180.0;
+            std::vector<Eigen::Vector3d> frame_ = frame;
+            std::transform(frame_.cbegin(), frame_.cend(), frame_.begin(), [&](const auto pt) {
+                const Eigen::Vector3d rotationVector = pt.cross(Eigen::Vector3d(0., 0., 1.));
+                return Eigen::AngleAxisd(VERTICAL_ANGLE_OFFSET, rotationVector.normalized()) * pt;
+            });
+            return frame_;
+        },
+        "frame"_a);
 
     // Metrics
     m.def("_kitti_seq_error", &metrics::SeqError, "gt_poses"_a, "results_poses"_a);