diff --git a/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp b/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
index 5e8c127..ac0100f 100644
--- a/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
+++ b/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
@@ -111,7 +111,8 @@ class TrackerKCFImpl
 {
 public:
   TrackerKCFImpl();
-  void setFeatureExtractor(void (* f)(const cv::Mat, const cv::Rect2d, cv::Mat &),
+  void setFeatureExtractor(
+    void (* f)(const cv::Mat, const cv::Rect2d, cv::Mat &),
     bool pca_func = false);
   Params params;
   bool isInit;
@@ -121,7 +122,8 @@ class TrackerKCFImpl
   */
   bool initImpl(const cv::Mat & image, cv::Rect2d & boundingBox);
 
-  bool detectImpl(const cv::Mat & image, cv::Rect2d & boundingBox, float & confidence,
+  bool detectImpl(
+    const cv::Mat & image, cv::Rect2d & boundingBox, float & confidence,
     bool debug = false);
 
   bool updateWithTrackImpl(
@@ -137,7 +139,8 @@ class TrackerKCFImpl
    */
   bool extractFeature(const cv::Mat & image, cv::Rect2d u_roi, cv::Mat & featureSet);
 
-  bool extractKernelMap(const cv::Mat & srcFeature, const cv::Mat & dstFeature,
+  bool extractKernelMap(
+    const cv::Mat & srcFeature, const cv::Mat & dstFeature,
     cv::Mat & kernelMap);
 
   bool extractCovar(
@@ -174,7 +177,8 @@ class TrackerKCFImpl
   * KCF functions and vars
   */
   void createHanningWindow(cv::OutputArray dest, const cv::Size winSize, const int type) const;
-  void inline fft2(const cv::Mat src, std::vector<cv::Mat> & dest,
+  void inline fft2(
+    const cv::Mat src, std::vector<cv::Mat> & dest,
     std::vector<cv::Mat> & layers_data) const;
   void inline fft2(const cv::Mat src, cv::Mat & dest) const;
   void inline ifft2(const cv::Mat src, cv::Mat & dest) const;
@@ -189,7 +193,7 @@ class TrackerKCFImpl
     cv::Mat pca_data, cv::Mat new_cov, cv::Mat w, cv::Mat u, cv::Mat vt);
   void inline compress(
     const cv::Mat proj_matrix, const cv::Mat src, cv::Mat & dest, cv::Mat & data,
-   cv::Mat & compressed) const;
+    cv::Mat & compressed) const;
   bool getSubWindow(
     const cv::Mat img, const cv::Rect2d roi, cv::Mat & feat, cv::Mat & patch,
     MODE desc = GRAY) const;
@@ -204,14 +208,14 @@ class TrackerKCFImpl
   void denseGaussKernel(
     const float sigma, const cv::Mat, const cv::Mat y_data, cv::Mat & k_data,
     std::vector<cv::Mat> & layers_data, std::vector<cv::Mat> & xf_data,
-      std::vector<cv::Mat> & yf_data, std::vector<cv::Mat> xyf_v,
-      cv::Mat xy, cv::Mat xyf) const;
+    std::vector<cv::Mat> & yf_data, std::vector<cv::Mat> xyf_v,
+    cv::Mat xy, cv::Mat xyf) const;
   void calcResponse(
     const cv::Mat alphaf_data, const cv::Mat kf_data, cv::Mat & response_data,
-   cv::Mat & spec_data) const;
+    cv::Mat & spec_data) const;
   void calcResponse(
     const cv::Mat alphaf_data, const cv::Mat alphaf_den_data, const cv::Mat kf_data,
-   cv::Mat & response_data, cv::Mat & spec_data, cv::Mat & spec2_data) const;
+    cv::Mat & response_data, cv::Mat & spec_data, cv::Mat & spec2_data) const;
 
   void shiftRows(cv::Mat & mat) const;
   void shiftRows(cv::Mat & mat, int n) const;
@@ -221,30 +225,41 @@ class TrackerKCFImpl
 #endif
 
 private:
- float output_sigma;
- cv::Rect2d roi;
- cv::Mat hann;  // hann window filter
- cv::Mat hann_cn;  // 10 dimensional hann-window filter for CN features,
-
- cv::Mat y, yf;  // training response and its FFT
- cv::Mat x;  // observation and its FFT
- cv::Mat k, kf;  // dense gaussian kernel and its FFT
- cv::Mat kf_lambda;  // kf+lambda
- cv::Mat new_alphaf, alphaf;  // training coefficients
- cv::Mat new_alphaf_den, alphaf_den;  // for splitted training coefficients
- cv::Mat z;  // model
- cv::Mat response;  // detection result
- cv::Mat old_cov_mtx, proj_mtx;  // for feature compression
+  float output_sigma;
+  cv::Rect2d roi;
+  // hann window filter
+  cv::Mat hann;
+  // 10 dimensional hann-window filter for CN features
+  cv::Mat hann_cn;
+  
+  // training response and its FFT
+  cv::Mat y, yf;
+  // observation and its FFT
+  cv::Mat x;
+  // dense gaussian kernel and its FFT
+  cv::Mat k, kf;
+  // kf+lambda
+  cv::Mat kf_lambda;
+  // training coefficients
+  cv::Mat new_alphaf, alphaf;
+  // for splitted training coefficients
+  cv::Mat new_alphaf_den, alphaf_den;
+  // model
+  cv::Mat z;
+  // detection result
+  cv::Mat response;
+  // for feature compression
+  cv::Mat old_cov_mtx, proj_mtx;
 
   // pre-defined Mat variables for optimization of private functions
- cv::Mat spec, spec2;
+  cv::Mat spec, spec2;
   std::vector<cv::Mat> layers;
   std::vector<cv::Mat> vxf, vyf, vxyf;
- cv::Mat xy_data, xyf_data;
- cv::Mat data_temp, compress_data;
+  cv::Mat xy_data, xyf_data;
+  cv::Mat data_temp, compress_data;
   std::vector<cv::Mat> layers_pca_data;
   std::vector<cv::Scalar> average_data;
- cv::Mat img_Patch;
+  cv::Mat img_Patch;
 
   // storage of the extracted features
   std::vector<cv::Mat> features_pca;
@@ -253,7 +268,7 @@ class TrackerKCFImpl
   std::vector<MODE> descriptors_npca;
 
   // optimization variables for updateProjectionMatrix
- cv::Mat data_pca, new_covar, w_data, u_data, vt_data;
+  cv::Mat data_pca, new_covar, w_data, u_data, vt_data;
 
   // custom feature extractor
   bool use_custom_extractor_pca;
diff --git a/object_analytics_node/include/object_analytics_node/tracker/tracking_manager.hpp b/object_analytics_node/include/object_analytics_node/tracker/tracking_manager.hpp
index 2b0548d..304c7f1 100644
--- a/object_analytics_node/include/object_analytics_node/tracker/tracking_manager.hpp
+++ b/object_analytics_node/include/object_analytics_node/tracker/tracking_manager.hpp
@@ -185,4 +185,3 @@ class TrackingManager
 }  // namespace tracker
 
 #endif  // OBJECT_ANALYTICS_NODE__TRACKER__TRACKING_MANAGER_HPP_
-
diff --git a/object_analytics_node/src/tracker/tracking.cpp b/object_analytics_node/src/tracker/tracking.cpp
index 10e9ed4..927ed91 100644
--- a/object_analytics_node/src/tracker/tracking.cpp
+++ b/object_analytics_node/src/tracker/tracking.cpp
@@ -166,7 +166,7 @@ void Tracking::updateTracker(
         tracked_rect_, probability_, debug);
 
     if (!ret) {
-      TRACE_INFO( "Tracker(%d) update stamp(%f), det(%d), failed since of match fail!!!!",
+      TRACE_INFO("Tracker(%d) update stamp(%f), det(%d), failed since of match fail!!!!",
         tracking_id_, lstamp, det);
 
       state_ = LOST;
diff --git a/object_analytics_node/src/visualizer/CMakeLists.txt b/object_analytics_node/src/visualizer/CMakeLists.txt
index 5238e35..1a73a18 100644
--- a/object_analytics_node/src/visualizer/CMakeLists.txt
+++ b/object_analytics_node/src/visualizer/CMakeLists.txt
@@ -22,15 +22,15 @@ endif()
 
 ####################################
 ## to use C++11
-set (CMAKE_CXX_STANDARD 11)
-set (CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 ####################################
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # we dont use add_compile_options with pedantic in message packages
   # because the Python C extensions dont comply with it
-	# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+  # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
 endif()
 
 find_package(Pangolin REQUIRED)
@@ -39,8 +39,8 @@ find_package(OpenCV 3.2 REQUIRED)
 include_directories(
   include
   utils
-	device
-	render_object
+  device
+  render_object
   view
   control
   data 
@@ -48,23 +48,23 @@ include_directories(
   model
   model/stat
   model/sample
-	$(CMAKE_CURRENT_SOURCE_DIR)
+  $(CMAKE_CURRENT_SOURCE_DIR)
 )
 
-add_executable(oa_viewer 
-	main.cpp
+add_executable(oa_viewer
+  main.cpp
   view/view.cpp
   control/control.cpp
   control/control_ds.cpp
-	device/stream_cap.cpp
-	device/stream_device.cpp
-	device/stream_vid.cpp
-	device/stream_ds.cpp
-	render_object/render_object.cpp
-	render_object/render_image.cpp
-	render_object/render_lines.cpp
-	render_object/render_rect.cpp
-	render_object/render_ellipse.cpp
+  device/stream_cap.cpp
+  device/stream_device.cpp
+  device/stream_vid.cpp
+  device/stream_ds.cpp
+  render_object/render_object.cpp
+  render_object/render_image.cpp
+  render_object/render_lines.cpp
+  render_object/render_rect.cpp
+  render_object/render_ellipse.cpp
   data/frame.cpp
   data/frame_obj.cpp
   data/dataset/tr_dataset.cpp
@@ -78,10 +78,10 @@ add_executable(oa_viewer
   model/sample/sample_model.cpp
   model/sample/uniform_sample.cpp
   model/sample/rw_sample.cpp
-	)
+  )
 
 target_link_libraries(oa_viewer
-	${PCL_COMMON_LIBRARIES}
-	${Pangolin_LIBRARIES}
-	${OpenCV_LIBRARIES}
+  ${PCL_COMMON_LIBRARIES}
+  ${Pangolin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
 )
diff --git a/object_analytics_node/src/visualizer/data/dataset/.trimg_MTdataset.cpp.swp b/object_analytics_node/src/visualizer/data/dataset/.trimg_MTdataset.cpp.swp
deleted file mode 100644
index cdcf638..0000000
Binary files a/object_analytics_node/src/visualizer/data/dataset/.trimg_MTdataset.cpp.swp and /dev/null differ
diff --git a/object_analytics_node/src/visualizer/data/dataset/trimg_MTdataset.cpp b/object_analytics_node/src/visualizer/data/dataset/trimg_MTdataset.cpp
index e94a3ef..dc3d80f 100644
--- a/object_analytics_node/src/visualizer/data/dataset/trimg_MTdataset.cpp
+++ b/object_analytics_node/src/visualizer/data/dataset/trimg_MTdataset.cpp
@@ -13,10 +13,12 @@
 // limitations under the License.
 
 #include <omp.h>
-#include <fstream>
 #include <opencv2/highgui.hpp>
+
+#include <fstream>
 #include <string>
 #include <vector>
+
 #include "track_dataset.hpp"
 
 namespace datasets
diff --git a/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp b/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
index beaa41e..4845791 100644
--- a/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
+++ b/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "track_dataset.hpp"
+
 #include <omp.h>
-#include <fstream>
 #include <opencv2/highgui.hpp>
+
 #include <string>
 #include <vector>
-#include "track_dataset.hpp"
+#include <fstream>
 
 namespace datasets
 {
diff --git a/object_analytics_node/src/visualizer/device/stream_cap.cpp b/object_analytics_node/src/visualizer/device/stream_cap.cpp
index 6f16930..583ae23 100644
--- a/object_analytics_node/src/visualizer/device/stream_cap.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_cap.cpp
@@ -14,6 +14,9 @@
 
 #include "stream_cap.hpp"
 
+#include <memory>
+#include <string>
+
 stream_cap::stream_cap() {TRACE_INFO();}
 
 stream_cap::~stream_cap() {TRACE_INFO();}
diff --git a/object_analytics_node/src/visualizer/device/stream_cap.hpp b/object_analytics_node/src/visualizer/device/stream_cap.hpp
index 29aef8c..e6b3be7 100644
--- a/object_analytics_node/src/visualizer/device/stream_cap.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_cap.hpp
@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <opencv2/opencv.hpp>
+
 #include <chrono>
 #include <fstream>
 #include <iostream>
@@ -21,8 +23,7 @@
 #include <random>
 #include <string>
 #include <vector>
-
-#include <opencv2/opencv.hpp>
+#include <memory>
 
 #include "stream_device.hpp"
 
diff --git a/object_analytics_node/src/visualizer/device/stream_device.cpp b/object_analytics_node/src/visualizer/device/stream_device.cpp
index 9a81ccf..2bfddcf 100644
--- a/object_analytics_node/src/visualizer/device/stream_device.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_device.cpp
@@ -13,6 +13,10 @@
 // limitations under the License.
 
 #include "stream_device.hpp"
+
+#include <string>
+#include <memory>
+
 #include "stream_cap.hpp"
 #include "stream_ds.hpp"
 #include "stream_vid.hpp"
diff --git a/object_analytics_node/src/visualizer/device/stream_device.hpp b/object_analytics_node/src/visualizer/device/stream_device.hpp
index 4d434f7..9ee6126 100644
--- a/object_analytics_node/src/visualizer/device/stream_device.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_device.hpp
@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <opencv2/opencv.hpp>
+
 #include <atomic>
 #include <chrono>
 #include <condition_variable>
@@ -27,8 +29,7 @@
 #include <string>
 #include <thread>
 #include <vector>
-
-#include <opencv2/opencv.hpp>
+#include <utility>
 
 #include "frame.hpp"
 #include "utility.hpp"
diff --git a/object_analytics_node/src/visualizer/device/stream_ds.cpp b/object_analytics_node/src/visualizer/device/stream_ds.cpp
index 66f76d8..ece8adf 100644
--- a/object_analytics_node/src/visualizer/device/stream_ds.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_ds.cpp
@@ -13,6 +13,10 @@
 // limitations under the License.
 
 #include "stream_ds.hpp"
+
+#include <string>
+#include <momery>
+
 #include "frame_obj.hpp"
 #include "object.hpp"
 
diff --git a/object_analytics_node/src/visualizer/device/stream_ds.hpp b/object_analytics_node/src/visualizer/device/stream_ds.hpp
index 62209ae..79e84c1 100644
--- a/object_analytics_node/src/visualizer/device/stream_ds.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_ds.hpp
@@ -14,16 +14,17 @@
 
 #pragma once
 
+#include <opencv2/opencv.hpp>
+
 #include <chrono>
 #include <fstream>
 #include <iostream>
 #include <iterator>
 #include <random>
 #include <string>
+#include <memory>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "stream_device.hpp"
 #include "track_dataset.hpp"
 
diff --git a/object_analytics_node/src/visualizer/device/stream_render.hpp b/object_analytics_node/src/visualizer/device/stream_render.hpp
index 936778c..05c52da 100644
--- a/object_analytics_node/src/visualizer/device/stream_render.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_render.hpp
@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <opencv2/opencv.hpp>
+
 #include <chrono>
 #include <fstream>
 #include <iostream>
@@ -23,8 +25,6 @@
 #include <string>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 class stream_render
 {
 public:
diff --git a/object_analytics_node/src/visualizer/device/stream_vid.cpp b/object_analytics_node/src/visualizer/device/stream_vid.cpp
index c61662b..a328df0 100644
--- a/object_analytics_node/src/visualizer/device/stream_vid.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_vid.cpp
@@ -14,6 +14,9 @@
 
 #include "stream_vid.hpp"
 
+#include <string>
+#include <momery>
+
 stream_vid::stream_vid() {TRACE_INFO();}
 
 stream_vid::~stream_vid() {TRACE_INFO();}
diff --git a/object_analytics_node/src/visualizer/device/stream_vid.hpp b/object_analytics_node/src/visualizer/device/stream_vid.hpp
index e82132e..b5936de 100644
--- a/object_analytics_node/src/visualizer/device/stream_vid.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_vid.hpp
@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <opencv2/opencv.hpp>
+
 #include <chrono>
 #include <fstream>
 #include <iostream>
@@ -22,8 +24,6 @@
 #include <string>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "stream_device.hpp"
 
 class stream_vid : public stream_device
diff --git a/object_analytics_node/src/visualizer/model/math_model.hpp b/object_analytics_node/src/visualizer/model/math_model.hpp
index 9f7fda3..e552c34 100644
--- a/object_analytics_node/src/visualizer/model/math_model.hpp
+++ b/object_analytics_node/src/visualizer/model/math_model.hpp
@@ -16,13 +16,13 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+
 #include <cstring>
 #include <memory>
 #include <string>
 
-#include <opencv2/core/core.hpp>
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 
 class MathModel
diff --git a/object_analytics_node/src/visualizer/model/math_sample.cpp b/object_analytics_node/src/visualizer/model/math_sample.cpp
index d4a99b3..c037a3f 100644
--- a/object_analytics_node/src/visualizer/model/math_sample.cpp
+++ b/object_analytics_node/src/visualizer/model/math_sample.cpp
@@ -14,6 +14,9 @@
 
 #include "math_sample.hpp"
 
+#include <memory>
+#include <string>
+
 MathSample::MathSample() {TRACE_INFO();}
 
 MathSample::~MathSample() {TRACE_INFO();}
diff --git a/object_analytics_node/src/visualizer/model/math_sample.hpp b/object_analytics_node/src/visualizer/model/math_sample.hpp
index f8ebb9f..c21f482 100644
--- a/object_analytics_node/src/visualizer/model/math_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/math_sample.hpp
@@ -16,17 +16,16 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+
 #include <cstring>
 #include <memory>
 #include <string>
 
-#include <opencv2/core/core.hpp>
-#include <opencv2/opencv.hpp>
-
 #include "gaussian_model.hpp"
 #include "uniform_sample.hpp"
 #include "rw_sample.hpp"
-
 #include "utility.hpp"
 
 class MathSample
@@ -85,5 +84,4 @@ class MathSample
   SampleModel::Ptr SampleModel_ = nullptr;
 
   uint32_t Counts_ = 0;
-
 };
diff --git a/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp b/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
index fc93cbe..c31fa4d 100644
--- a/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
@@ -16,16 +16,16 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/opencv.hpp>
+
 #include <iostream>
 #include <cstring>
 #include <memory>
 #include <string>
 
 #include "sample_model.hpp"
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 
 class RWSample : public SampleModel
@@ -55,5 +55,4 @@ class RWSample : public SampleModel
    * @brief Fetch samples
    */
   virtual bool FetchSamples(cv::Mat & samples);
-
 };
diff --git a/object_analytics_node/src/visualizer/model/sample/sample_model.hpp b/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
index f2f507e..c7fa6b6 100644
--- a/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
@@ -16,13 +16,14 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <opencv2/core/core.hpp>
+
 #include <cstring>
 #include <memory>
 #include <string>
 #include <functional>
 #include <iostream>
 
-#include <opencv2/core/core.hpp>
 #include "utility.hpp"
 
 class SampleModel
@@ -98,5 +99,4 @@ class SampleModel
    * @brief Callback of evaluator
    */
   CBPtr Evaluator_Proc_ = nullptr;
-
 };
diff --git a/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp b/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
index 195f638..b16bb4e 100644
--- a/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
@@ -16,16 +16,16 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/opencv.hpp>
+
 #include <iostream>
 #include <cstring>
 #include <memory>
 #include <string>
 
 #include "sample_model.hpp"
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 
 class UniformSample : public SampleModel
diff --git a/object_analytics_node/src/visualizer/render_object/render_image.hpp b/object_analytics_node/src/visualizer/render_object/render_image.hpp
index d2330ff..33d42cf 100644
--- a/object_analytics_node/src/visualizer/render_object/render_image.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_image.hpp
@@ -17,6 +17,9 @@
 #include <stdio.h>
 #include <unistd.h>
 
+#include <memory>
+#include <string>
+
 #include "render_object.hpp"
 
 class RenderImage : public RenderObject
diff --git a/object_analytics_node/src/visualizer/render_object/render_lines.hpp b/object_analytics_node/src/visualizer/render_object/render_lines.hpp
index 1e937ce..21cc536 100644
--- a/object_analytics_node/src/visualizer/render_object/render_lines.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_lines.hpp
@@ -17,6 +17,9 @@
 #include <stdio.h>
 #include <unistd.h>
 
+#include <memory>
+#include <string>
+
 #include "render_object.hpp"
 
 class RenderLines : public RenderObject
diff --git a/object_analytics_node/src/visualizer/render_object/render_object.hpp b/object_analytics_node/src/visualizer/render_object/render_object.hpp
index 7f9cfdf..0c25b7f 100644
--- a/object_analytics_node/src/visualizer/render_object/render_object.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_object.hpp
@@ -27,6 +27,10 @@
 #include <pangolin/scene/scenehandler.h>
 #include <pangolin/gl/gltext.h>
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include "utility.hpp"
 
 class RenderObject