diff --git a/cpp/include_example/CMakeLists.txt b/cpp/include_example/CMakeLists.txt
index 76c47d7c..286580ea 100644
--- a/cpp/include_example/CMakeLists.txt
+++ b/cpp/include_example/CMakeLists.txt
@@ -8,4 +8,3 @@ target_link_libraries(example PRIVATE kiss_icp::kiss_icp_pipeline)
 #for other components (not used in example.cpp):
 #target_link_libraries(example PRIVATE kiss_icp::kiss_icp_core)
 #target_link_libraries(example PRIVATE kiss_icp::kiss_icp_metrics)
-
diff --git a/cpp/include_example/README.md b/cpp/include_example/README.md
index 16b09e65..197708b6 100644
--- a/cpp/include_example/README.md
+++ b/cpp/include_example/README.md
@@ -7,4 +7,3 @@ See `CMakeLists.txt` for details on how to find the library and link the targets
 cmake -Bbuild
 cmake --build build -j$(nproc --all)
 ```
-
diff --git a/cpp/kiss_icp/3rdparty/find_dependencies.cmake b/cpp/kiss_icp/3rdparty/find_dependencies.cmake
index 2189fca0..d03e185c 100644
--- a/cpp/kiss_icp/3rdparty/find_dependencies.cmake
+++ b/cpp/kiss_icp/3rdparty/find_dependencies.cmake
@@ -41,7 +41,10 @@ if(NOT DOWNLOAD_MISSING_DEPS)
   find_package(Eigen3 REQUIRED) # sudo apt install libeigen3-dev
   find_package(Sophus REQUIRED) # sudo apt install ros-noetic-sophus
   find_package(TBB REQUIRED) # sudo apt install libtbb-dev
-  find_package(tsl-robin-map REQUIRED) # clone & install from https://github.com/Tessil/robin-map.git into misc_ws, and run `cmake -Bbuild && cmake --build build && sudo cmake --install build`)
+  find_package(
+    tsl-robin-map REQUIRED)
+
+  # clone & install from https://github.com/Tessil/robin-map.git into misc_ws, and run `cmake -Bbuild && cmake --build build && sudo cmake --install build`)
 
 else()
   find_package(Eigen3)
@@ -64,7 +67,9 @@ if(TARGET tsl::robin_map)
 endif()
 
 if(NOT (TARGET Eigen3::Eigen AND TARGET Sophus::Sophus AND TARGET tsl::robin_map AND TARGET TBB::tbb))
-  message(FATAL_ERROR "
+  message(
+    FATAL_ERROR
+      "
   Exporting fetched dependencies is currently broken
   I have no idea how to do it automatically ¯\\_(ツ)_/¯
   please set DOWNLOAD_MISSING_DEPS to OFF in the main CMakeLists.txt and install the dependencies yourself.
@@ -105,4 +110,4 @@ if(DOWNLOAD_MISSING_DEPS)
       message(FATAL_ERROR "loading tsl::robin_map failed.")
     endif()
   endif()
-endif()
\ No newline at end of file
+endif()
diff --git a/cpp/kiss_icp/CMakeLists.txt b/cpp/kiss_icp/CMakeLists.txt
index bca85792..5c2cea15 100644
--- a/cpp/kiss_icp/CMakeLists.txt
+++ b/cpp/kiss_icp/CMakeLists.txt
@@ -54,30 +54,17 @@ include(${CMAKE_CURRENT_LIST_DIR}/cmake/CompilerOptions.cmake)
 
 add_subdirectory(src)
 
-install(EXPORT kiss_icpTargets
-        FILE kiss_icpTargets.cmake
-        NAMESPACE kiss_icp::
-        DESTINATION "share/cmake/kiss_icp")
+install(EXPORT kiss_icpTargets FILE kiss_icpTargets.cmake NAMESPACE kiss_icp:: DESTINATION "share/cmake/kiss_icp")
 
-
-configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/Config.cmake.in
-  "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
-  INSTALL_DESTINATION "share/cmake/kiss_icp"
-)
+configure_package_config_file(
+  ${CMAKE_CURRENT_LIST_DIR}/cmake/Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+  INSTALL_DESTINATION "share/cmake/kiss_icp")
 
 # generate the version file for the config file
-write_basic_package_version_file(
-  "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake"
-  VERSION "${version}"
-  COMPATIBILITY SameMinorVersion
-)
-
+write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" VERSION "${version}"
+                                 COMPATIBILITY SameMinorVersion)
 
-install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/kiss_icp"
-        DESTINATION "include")
+install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/kiss_icp" DESTINATION "include")
 
-install(FILES
-          "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
-          "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake"
-        DESTINATION "share/cmake/kiss_icp"
-)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" DESTINATION "share/cmake/kiss_icp")
diff --git a/cpp/kiss_icp/cmake/Config.cmake.in b/cpp/kiss_icp/cmake/Config.cmake.in
index 57eb3683..bb2c0d7c 100644
--- a/cpp/kiss_icp/cmake/Config.cmake.in
+++ b/cpp/kiss_icp/cmake/Config.cmake.in
@@ -8,4 +8,4 @@ find_dependency(tsl-robin-map REQUIRED)
 
 include("${CMAKE_CURRENT_LIST_DIR}/kiss_icpTargets.cmake")
 
-check_required_components(kiss_icp)
\ No newline at end of file
+check_required_components(kiss_icp)
diff --git a/cpp/kiss_icp/src/CMakeLists.txt b/cpp/kiss_icp/src/CMakeLists.txt
index 593ab3b9..6c28f56b 100644
--- a/cpp/kiss_icp/src/CMakeLists.txt
+++ b/cpp/kiss_icp/src/CMakeLists.txt
@@ -1,3 +1,3 @@
 add_subdirectory(core)
 add_subdirectory(metrics)
-add_subdirectory(pipeline)
\ No newline at end of file
+add_subdirectory(pipeline)
diff --git a/cpp/kiss_icp/src/core/CMakeLists.txt b/cpp/kiss_icp/src/core/CMakeLists.txt
index 1622c9db..cf6fe0a5 100644
--- a/cpp/kiss_icp/src/core/CMakeLists.txt
+++ b/cpp/kiss_icp/src/core/CMakeLists.txt
@@ -23,14 +23,10 @@
 add_library(kiss_icp_core STATIC)
 target_sources(kiss_icp_core PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp VoxelUtils.cpp Preprocessing.cpp
                                      Threshold.cpp)
-target_include_directories(kiss_icp_core PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/core>
-  $<INSTALL_INTERFACE:include/kiss_icp/core>
-)
+target_include_directories(kiss_icp_core PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/core>
+                                                $<INSTALL_INTERFACE:include/kiss_icp/core>)
 target_link_libraries(kiss_icp_core PUBLIC Eigen3::Eigen tsl::robin_map Sophus::Sophus)
 target_link_libraries(kiss_icp_core PRIVATE TBB::tbb)
 set_global_target_properties(kiss_icp_core)
 
-install(TARGETS kiss_icp_core
-        DESTINATION lib/kiss_icp/core
-        EXPORT kiss_icpTargets)
+install(TARGETS kiss_icp_core DESTINATION lib/kiss_icp/core EXPORT kiss_icpTargets)
diff --git a/cpp/kiss_icp/src/metrics/CMakeLists.txt b/cpp/kiss_icp/src/metrics/CMakeLists.txt
index 64f13f27..0bf96824 100644
--- a/cpp/kiss_icp/src/metrics/CMakeLists.txt
+++ b/cpp/kiss_icp/src/metrics/CMakeLists.txt
@@ -22,13 +22,9 @@
 # SOFTWARE.
 add_library(kiss_icp_metrics STATIC)
 target_sources(kiss_icp_metrics PRIVATE Metrics.cpp)
-target_include_directories(kiss_icp_metrics PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/metrics>
-  $<INSTALL_INTERFACE:include/kiss_icp/metrics>
-)
+target_include_directories(kiss_icp_metrics PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/metrics>
+                                                   $<INSTALL_INTERFACE:include/kiss_icp/metrics>)
 target_link_libraries(kiss_icp_metrics PUBLIC Eigen3::Eigen)
 set_global_target_properties(kiss_icp_metrics)
 
-install(TARGETS kiss_icp_metrics
-        DESTINATION lib/kiss_icp/metrics
-        EXPORT kiss_icpTargets)
\ No newline at end of file
+install(TARGETS kiss_icp_metrics DESTINATION lib/kiss_icp/metrics EXPORT kiss_icpTargets)
diff --git a/cpp/kiss_icp/src/pipeline/CMakeLists.txt b/cpp/kiss_icp/src/pipeline/CMakeLists.txt
index fc87f779..ccd8d3e9 100644
--- a/cpp/kiss_icp/src/pipeline/CMakeLists.txt
+++ b/cpp/kiss_icp/src/pipeline/CMakeLists.txt
@@ -23,14 +23,9 @@
 
 add_library(kiss_icp_pipeline STATIC)
 target_sources(kiss_icp_pipeline PRIVATE KissICP.cpp)
-target_include_directories(kiss_icp_pipeline PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/pipeline>
-  $<INSTALL_INTERFACE:include/kiss_icp/pipeline>
-)
+target_include_directories(kiss_icp_pipeline PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/pipeline>
+                                                    $<INSTALL_INTERFACE:include/kiss_icp/pipeline>)
 target_link_libraries(kiss_icp_pipeline PUBLIC kiss_icp_core)
 set_global_target_properties(kiss_icp_pipeline)
 
-install(TARGETS kiss_icp_pipeline
-        DESTINATION lib/kiss_icp/pipeline
-        EXPORT kiss_icpTargets
-        )
\ No newline at end of file
+install(TARGETS kiss_icp_pipeline DESTINATION lib/kiss_icp/pipeline EXPORT kiss_icpTargets)