The module contains 2 functions with similar structure: DistortionCorrectorComponent::getTransform,DistortionCorrectorComponent::getTransform. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

DistortionCorrectorComponent::undistortPointCloud increases in cyclomatic complexity from 23 to 29, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

DistortionCorrectorComponent::undistortPointCloud increases from 2 to 6 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

This module has a mean cyclomatic complexity of 7.00 across 7 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

DistortionCorrectorComponent::undistortPointCloud has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.