diff --git a/python/kiss_icp/pybind/kiss_icp_pybind.cpp b/python/kiss_icp/pybind/kiss_icp_pybind.cpp
index abeca733..bb86c403 100644
--- a/python/kiss_icp/pybind/kiss_icp_pybind.cpp
+++ b/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);
diff --git a/python/kiss_icp/pybind/kitti.hpp b/python/kiss_icp/pybind/kitti.hpp
deleted file mode 100644
index 891794b7..00000000
--- a/python/kiss_icp/pybind/kitti.hpp
+++ /dev/null
@@ -1,47 +0,0 @@
-// MIT License
-//
-// Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
-// Stachniss.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-
-#include <tbb/parallel_for.h>
-
-#include <Eigen/Core>
-#include <algorithm>
-#include <vector>
-
-namespace kiss_icp {
-
-/// 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)
-std::vector<Eigen::Vector3d> CorrectKITTIScan(const std::vector<Eigen::Vector3d> &frame);
-std::vector<Eigen::Vector3d> CorrectKITTIScan(const std::vector<Eigen::Vector3d> &frame) {
-    constexpr double VERTICAL_ANGLE_OFFSET = (0.205 * M_PI) / 180.0;
-    std::vector<Eigen::Vector3d> corrected_frame(frame.size());
-    tbb::parallel_for(size_t(0), frame.size(), [&](size_t i) {
-        const auto &pt = frame[i];
-        const Eigen::Vector3d rotationVector = pt.cross(Eigen::Vector3d(0., 0., 1.));
-        corrected_frame[i] =
-            Eigen::AngleAxisd(VERTICAL_ANGLE_OFFSET, rotationVector.normalized()) * pt;
-    });
-    return corrected_frame;
-}
-}  // namespace kiss_icp