diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp
index 0a6a6e30..d9e1d805 100644
--- a/cpp/kiss_icp/core/Preprocessing.cpp
+++ b/cpp/kiss_icp/core/Preprocessing.cpp
@@ -26,9 +26,9 @@
 #include <tsl/robin_map.h>
 
 #include <Eigen/Core>
+#include <Eigen/Geometry>
 #include <algorithm>
 #include <cmath>
-#include <sophus/se3.hpp>
 #include <vector>
 
 namespace {
diff --git a/cpp/kiss_icp/core/Preprocessing.hpp b/cpp/kiss_icp/core/Preprocessing.hpp
index e919a422..1a8ae1ee 100644
--- a/cpp/kiss_icp/core/Preprocessing.hpp
+++ b/cpp/kiss_icp/core/Preprocessing.hpp
@@ -23,8 +23,6 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <sophus/se3.hpp>
-#include <utility>
 #include <vector>
 
 namespace kiss_icp {
diff --git a/cpp/kiss_icp/core/Threshold.cpp b/cpp/kiss_icp/core/Threshold.cpp
index f9cb4131..1c51a511 100644
--- a/cpp/kiss_icp/core/Threshold.cpp
+++ b/cpp/kiss_icp/core/Threshold.cpp
@@ -22,8 +22,9 @@
 // SOFTWARE.
 #include "Threshold.hpp"
 
-#include <Eigen/Core>
+#include <Eigen/Geometry>
 #include <cmath>
+#include <sophus/se3.hpp>
 
 namespace kiss_icp {
 AdaptiveThreshold::AdaptiveThreshold(double initial_threshold,
diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp
index 65790fba..6b3b061b 100644
--- a/cpp/kiss_icp/core/VoxelHashMap.cpp
+++ b/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -24,8 +24,7 @@
 
 #include <Eigen/Core>
 #include <algorithm>
-#include <tuple>
-#include <utility>
+#include <sophus/se3.hpp>
 #include <vector>
 
 namespace kiss_icp {
diff --git a/cpp/kiss_icp/metrics/Metrics.cpp b/cpp/kiss_icp/metrics/Metrics.cpp
index 26f025bf..78195586 100644
--- a/cpp/kiss_icp/metrics/Metrics.cpp
+++ b/cpp/kiss_icp/metrics/Metrics.cpp
@@ -23,6 +23,7 @@
 #include "Metrics.hpp"
 
 #include <Eigen/Core>
+#include <Eigen/Geometry>
 #include <algorithm>
 #include <cassert>
 #include <cmath>