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autowarefoundation · Nov 13, 2023 · ab81c47 · ab81c47
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diff --git a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md
@@ -43,7 +43,8 @@ $ ExactPointTime = TimeStamp + TimeOffset $
 | ----------------------------- | ------ | ------------- | ----------------------------------------------------------- |
 | `timestamp_field_name`        | string | "time_stamp"  | time stamp field name                                       |
 | `use_imu`                     | bool   | true          | use gyroscope for yaw rate if true, else use vehicle status |
-| `update_azimuth_and_distance`| bool   | false         | update the azimuth and distance based on undistorted xyz    |
+| `update_azimuth_and_distance` | bool   | false         | update the azimuth and distance based on undistorted xyz    |
 
 ## Assumptions / Known limits
-When setting the parameter `update_azimuth_and_distance` to True, the node will calculate the azimuth value based on the undistorted XYZ by using atan2, which will return the azimuth value with the coordinate system that the x-axis is 0 degrees and the y-axis is 90 degrees. Please make sure the frame coordinates are same as the coordinate system mentioned in the above. For autoware user, the frame_id of input pointcloud is base_link, which the coordinate system is same as the coordinate system mentioned above, therefore it won't casue any issues. Also note that by setting the parameter `update_azimuth_and_distance` to True, the time will incrase around 13%. 
+
+When setting the parameter `update_azimuth_and_distance` to True, the node will calculate the azimuth value based on the undistorted XYZ by using atan2, which will return the azimuth value with the coordinate system that the x-axis is 0 degrees and the y-axis is 90 degrees. Please make sure the frame coordinates are same as the coordinate system mentioned in the above. For autoware user, the frame_id of input pointcloud is base_link, which the coordinate system is same as the coordinate system mentioned above, therefore it won't casue any issues. Also note that by setting the parameter `update_azimuth_and_distance` to True, the time will incrase around 13%.
diff --git a/...reprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/...reprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
@@ -36,13 +36,13 @@
 #include <tf2_ros/transform_listener.h>
 
 // Include tier4 autoware utils
+#include <opencv2/opencv.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <deque>
 #include <memory>
 #include <string>
-#include <opencv2/opencv.hpp>
 
 namespace pointcloud_preprocessor
 {

diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp
@@ -319,4 +319,4 @@ bool DistortionCorrectorComponent::undistortPointCloud(
 }  // namespace pointcloud_preprocessor
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_preprocessor::DistortionCorrectorComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_preprocessor::DistortionCorrectorComponent)