diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
index aa3d9f69c2c9d..ec7413d95a43c 100644
--- a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
+++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
@@ -44,8 +44,9 @@ bool update_param(
 
 pcl::PointXYZI getPointXYZI(const radar_msgs::msg::RadarReturn & radar, float intensity)
 {
-  const float x = radar.range * std::cos(radar.azimuth) * std::cos(radar.elevation);
-  const float y = radar.range * std::sin(radar.azimuth) * std::cos(radar.elevation);
+  const float r_xy = radar.range * std::cos(radar.elevation);
+  const float x = r_xy * std::cos(radar.azimuth);
+  const float y = r_xy * std::sin(radar.azimuth);
   const float z = radar.range * std::sin(radar.elevation);
   return pcl::PointXYZI{x, y, z, intensity};
 }