diff --git a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp
index 549f893bcff..119c9f3b9d2 100644
--- a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp
+++ b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp
@@ -120,7 +120,6 @@ pcl::apps::DominantPlaneSegmentation<PointType>::compute_table_plane()
 
   // Compute the plane coefficients
   Eigen::Vector4f model_coefficients;
-  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
 
   model_coefficients[0] = table_coefficients_->values[0];
   model_coefficients[1] = table_coefficients_->values[1];
@@ -251,7 +250,6 @@ pcl::apps::DominantPlaneSegmentation<PointType>::compute_fast(
 
   // Compute the plane coefficients
   Eigen::Vector4f model_coefficients;
-  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
 
   model_coefficients[0] = table_coefficients_->values[0];
   model_coefficients[1] = table_coefficients_->values[1];
@@ -626,7 +624,6 @@ pcl::apps::DominantPlaneSegmentation<PointType>::compute(
 
   // Compute the plane coefficients
   Eigen::Vector4f model_coefficients;
-  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
 
   model_coefficients[0] = table_coefficients_->values[0];
   model_coefficients[1] = table_coefficients_->values[1];
@@ -795,7 +792,6 @@ pcl::apps::DominantPlaneSegmentation<PointType>::compute_full(
 
   // Compute the plane coefficients
   Eigen::Vector4f model_coefficients;
-  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
 
   model_coefficients[0] = table_coefficients_->values[0];
   model_coefficients[1] = table_coefficients_->values[1];
diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h
index 0e2740965ee..eebc14decd0 100644
--- a/common/include/pcl/pcl_macros.h
+++ b/common/include/pcl/pcl_macros.h
@@ -116,11 +116,13 @@
   #define _PCL_DEPRECATED_HEADER_IMPL(Message)
 #endif
 
+// NOLINTBEGIN(bugprone-macro-parentheses)
 /**
  * \brief A handy way to inform the user of the removal deadline
  */
 #define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg)                                 \
-  Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE((Major).Minor) ")"
+  Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")"
+// NOLINTEND(bugprone-macro-parentheses)
 
 /**
  * \brief Tests for Minor < PCL_MINOR_VERSION
diff --git a/features/include/pcl/features/impl/cppf.hpp b/features/include/pcl/features/impl/cppf.hpp
index 975bb98cc81..94f9c3a61f3 100755
--- a/features/include/pcl/features/impl/cppf.hpp
+++ b/features/include/pcl/features/impl/cppf.hpp
@@ -42,6 +42,7 @@
 #define PCL_FEATURES_IMPL_CPPF_H_
 
 #include <pcl/features/cppf.h>
+#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
diff --git a/features/include/pcl/features/impl/cvfh.hpp b/features/include/pcl/features/impl/cvfh.hpp
index de4fbc17eb3..55173305456 100644
--- a/features/include/pcl/features/impl/cvfh.hpp
+++ b/features/include/pcl/features/impl/cvfh.hpp
@@ -44,6 +44,7 @@
 #include <pcl/features/cvfh.h>
 #include <pcl/features/normal_3d.h>
 #include <pcl/common/centroid.h>
+#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointNT, typename PointOutT> void
diff --git a/features/include/pcl/features/impl/flare.hpp b/features/include/pcl/features/impl/flare.hpp
index 2f8d3c9577d..e00f242f422 100644
--- a/features/include/pcl/features/impl/flare.hpp
+++ b/features/include/pcl/features/impl/flare.hpp
@@ -41,6 +41,8 @@
 
 #include <pcl/features/flare.h>
 #include <pcl/common/geometry.h>
+#include <pcl/search/kdtree.h> // for KdTree
+#include <pcl/search/organized.h> // for OrganizedNeighbor
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointNT, typename PointOutT, typename SignedDistanceT> bool
diff --git a/features/include/pcl/features/impl/integral_image_normal.hpp b/features/include/pcl/features/impl/integral_image_normal.hpp
index f76765a1bcc..612a6df80a1 100644
--- a/features/include/pcl/features/impl/integral_image_normal.hpp
+++ b/features/include/pcl/features/impl/integral_image_normal.hpp
@@ -36,6 +36,7 @@
  *
  */
 #pragma once
+#include <pcl/common/eigen.h> // for eigen33
 #include <pcl/features/integral_image_normal.h>
 
 #include <algorithm>
@@ -491,7 +492,6 @@ pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computePointNormalMirro
     Eigen::Vector3f center;
     typename IntegralImage2D<float, 3>::SecondOrderType so_elements;
     typename IntegralImage2D<float, 3>::ElementType tmp_center;
-    typename IntegralImage2D<float, 3>::SecondOrderType tmp_so_elements;
 
     center[0] = 0;
     center[1] = 0;
diff --git a/features/include/pcl/features/impl/intensity_gradient.hpp b/features/include/pcl/features/impl/intensity_gradient.hpp
index df54ae8f9e1..fcb8c85f4f2 100644
--- a/features/include/pcl/features/impl/intensity_gradient.hpp
+++ b/features/include/pcl/features/impl/intensity_gradient.hpp
@@ -43,6 +43,7 @@
 #include <pcl/features/intensity_gradient.h>
 
 #include <pcl/common/point_tests.h> // for pcl::isFinite
+#include <pcl/common/eigen.h> // for eigen33
 
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/features/include/pcl/features/impl/our_cvfh.hpp b/features/include/pcl/features/impl/our_cvfh.hpp
index b0f0bc01a2e..15fab154805 100644
--- a/features/include/pcl/features/impl/our_cvfh.hpp
+++ b/features/include/pcl/features/impl/our_cvfh.hpp
@@ -47,6 +47,7 @@
 #include <pcl/common/io.h> // for copyPointCloud
 #include <pcl/common/common.h> // for getMaxDistance
 #include <pcl/common/transforms.h>
+#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointNT, typename PointOutT> void
@@ -623,7 +624,6 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloud
     {
 
       pcl::PointIndices pi;
-      pcl::PointIndices pi_cvfh;
       pcl::PointIndices pi_filtered;
 
       clusters_.push_back (pi);
diff --git a/features/include/pcl/features/impl/ppf.hpp b/features/include/pcl/features/impl/ppf.hpp
index 8cdb914a975..7fb8818a645 100644
--- a/features/include/pcl/features/impl/ppf.hpp
+++ b/features/include/pcl/features/impl/ppf.hpp
@@ -43,6 +43,7 @@
 #include <pcl/features/ppf.h>
 #include <pcl/features/pfh.h>
 #include <pcl/features/pfh_tools.h> // for computePairFeatures
+#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
diff --git a/features/include/pcl/features/impl/ppfrgb.hpp b/features/include/pcl/features/impl/ppfrgb.hpp
index 87f74548a62..193d54d6f56 100644
--- a/features/include/pcl/features/impl/ppfrgb.hpp
+++ b/features/include/pcl/features/impl/ppfrgb.hpp
@@ -40,6 +40,7 @@
 
 #include <pcl/features/ppfrgb.h>
 #include <pcl/features/pfhrgb.h>
+#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
diff --git a/features/include/pcl/features/impl/principal_curvatures.hpp b/features/include/pcl/features/impl/principal_curvatures.hpp
index 0d2ddd34ebb..8c0561c41d5 100644
--- a/features/include/pcl/features/impl/principal_curvatures.hpp
+++ b/features/include/pcl/features/impl/principal_curvatures.hpp
@@ -43,6 +43,7 @@
 #include <pcl/features/principal_curvatures.h>
 
 #include <pcl/common/point_tests.h> // for pcl::isFinite
+#include <pcl/common/eigen.h> // for eigen33
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT> void
diff --git a/filters/include/pcl/filters/convolution_3d.h b/filters/include/pcl/filters/convolution_3d.h
index 31a5a8093e0..8cb21bdee3f 100644
--- a/filters/include/pcl/filters/convolution_3d.h
+++ b/filters/include/pcl/filters/convolution_3d.h
@@ -272,7 +272,7 @@ namespace pcl
         double search_radius_;
 
         /** \brief number of threads */
-        unsigned int threads_;
+        unsigned int threads_{1};
 
         /** \brief convlving kernel */
         KernelT kernel_;
diff --git a/filters/include/pcl/filters/impl/random_sample.hpp b/filters/include/pcl/filters/impl/random_sample.hpp
index 24a0c571a67..f4138afcf3c 100644
--- a/filters/include/pcl/filters/impl/random_sample.hpp
+++ b/filters/include/pcl/filters/impl/random_sample.hpp
@@ -63,7 +63,11 @@ pcl::RandomSample<PointT>::applyFilter (Indices &indices)
       removed_indices_->resize (N - sample_size);
 
     // Set random seed so derived indices are the same each time the filter runs
+#ifdef __OpenBSD__
+    srand_deterministic (seed_); // OpenBSD only offers repeatable sequences with this function
+#else
     std::srand (seed_);
+#endif // __OpenBSD__
 
     // Algorithm S
     std::size_t i = 0;
diff --git a/filters/include/pcl/filters/sampling_surface_normal.h b/filters/include/pcl/filters/sampling_surface_normal.h
index 3c2e8397404..25253747a51 100644
--- a/filters/include/pcl/filters/sampling_surface_normal.h
+++ b/filters/include/pcl/filters/sampling_surface_normal.h
@@ -61,7 +61,7 @@ namespace pcl
     using PointCloudPtr = typename PointCloud::Ptr;
     using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
-    using Vector = Eigen::Matrix<float, Eigen::Dynamic, 1>;
+    using Vector = Eigen::Matrix<float, 3, 1>;
 
     public:
 
diff --git a/filters/src/random_sample.cpp b/filters/src/random_sample.cpp
index f271d8d4da2..97a75a6dbf1 100644
--- a/filters/src/random_sample.cpp
+++ b/filters/src/random_sample.cpp
@@ -117,7 +117,11 @@ pcl::RandomSample<pcl::PCLPointCloud2>::applyFilter (Indices &indices)
       removed_indices_->resize (N - sample_size);
 
     // Set random seed so derived indices are the same each time the filter runs
+#ifdef __OpenBSD__
+    srand_deterministic (seed_); // OpenBSD only offers repeatable sequences with this function
+#else
     std::srand (seed_);
+#endif // __OpenBSD__
 
     // Algorithm S
     std::size_t i = 0;
diff --git a/io/src/ply_io.cpp b/io/src/ply_io.cpp
index af58106a2cb..936e836fb0d 100644
--- a/io/src/ply_io.cpp
+++ b/io/src/ply_io.cpp
@@ -409,8 +409,16 @@ void
 pcl::PLYReader::vertexIntensityCallback (pcl::io::ply::uint8 intensity)
 {
   pcl::io::ply::float32 intensity_ (intensity);
-  cloud_->at<pcl::io::ply::float32>(vertex_count_, vertex_offset_before_) = intensity_;
-  vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::float32));
+  try
+  {
+    cloud_->at<pcl::io::ply::float32>(vertex_count_, vertex_offset_before_) = intensity_;
+    vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::float32));
+  }
+  catch(const std::out_of_range&)
+  {
+    PCL_WARN ("[pcl::PLYReader::vertexIntensityCallback] Incorrect data index specified (%lu)!\n", vertex_count_ * cloud_->point_step + vertex_offset_before_);
+    assert(false);
+  }
 }
 
 void
diff --git a/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp b/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp
index a7d15386619..b5744d52503 100644
--- a/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp
+++ b/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp
@@ -107,10 +107,10 @@ namespace pcl
           if (!stack_.empty ())
           {
             std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char>& stackEntry = stack_.back ();
-            stack_.pop_back ();
               
             this->currentNode_ = stackEntry.first;
             currentChildIdx_ = stackEntry.second;
+            stack_.pop_back (); // stackEntry is a reference, so pop_back after accessing it!
               
             //don't do anything with the keys here...
             this->currentOctreeDepth_--;
diff --git a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
index ba7b4eebd0a..4ced722e45a 100644
--- a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
+++ b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
@@ -299,8 +299,8 @@ PyramidFeatureHistogram<PointFeature>::compute()
   if (!initializeHistogram())
     return;
 
+  std::vector<float> feature_vector; // put here to reuse memory
   for (const auto& point : *input_) {
-    std::vector<float> feature_vector;
     // NaN is converted to very high number that gives out of bound exception.
     if (!pcl::isFinite(point))
       continue;
diff --git a/registration/include/pcl/registration/ndt.h b/registration/include/pcl/registration/ndt.h
index e19c6d391ba..26115717bd7 100644
--- a/registration/include/pcl/registration/ndt.h
+++ b/registration/include/pcl/registration/ndt.h
@@ -126,7 +126,7 @@ class NormalDistributionsTransform
     // Prevents unnecessary voxel initiations
     if (resolution_ != resolution) {
       resolution_ = resolution;
-      if (input_) {
+      if (target_) { // init() needs target_
         init();
       }
     }
diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp
index 33740e44904..abb0d32c9c4 100644
--- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp
+++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp
@@ -451,10 +451,9 @@ pcl::SampleConsensusModelEllipse3D<PointT>::optimizeModelCoefficients (
   OptimizationFunctor functor(this, inliers);
   Eigen::NumericalDiff<OptimizationFunctor> num_diff(functor);
   Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>, double> lm(num_diff);
-  Eigen::VectorXd coeff;
+  Eigen::VectorXd coeff = model_coefficients.cast<double>();
   int info = lm.minimize(coeff);
-  for (Eigen::Index i = 0; i < coeff.size (); ++i)
-    optimized_coefficients[i] = static_cast<float> (coeff[i]);
+  optimized_coefficients = coeff.cast<float>();
 
   // Compute the L2 norm of the residuals
   PCL_DEBUG ("[pcl::SampleConsensusModelEllipse3D::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g %g %g %g %g\nFinal solution: %g %g %g %g %g %g %g %g %g %g %g\n",
diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp
index dd9e7699c4d..81cd1070c1e 100644
--- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp
+++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp
@@ -86,7 +86,7 @@ pcl::SampleConsensusModelTorus<PointT, PointNT>::isSampleGood(
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 float
-crossDot(Eigen::Vector3f v1, Eigen::Vector3f v2, Eigen::Vector3f v3)
+crossDot(const Eigen::Vector3f& v1, const Eigen::Vector3f& v2, const Eigen::Vector3f& v3)
 {
   return v1.cross(v2).dot(v3);
 }
diff --git a/surface/include/pcl/surface/impl/grid_projection.hpp b/surface/include/pcl/surface/impl/grid_projection.hpp
index c5e232fa606..6147e51fea2 100644
--- a/surface/include/pcl/surface/impl/grid_projection.hpp
+++ b/surface/include/pcl/surface/impl/grid_projection.hpp
@@ -630,9 +630,7 @@ pcl::GridProjection<PointNT>::reconstructPolygons (std::vector<pcl::Vertices> &p
   for (pcl::index_t cp = 0; cp < static_cast<pcl::index_t> (data_->size ()); ++cp)
   {
     // Check if the point is invalid
-    if (!std::isfinite ((*data_)[cp].x) ||
-        !std::isfinite ((*data_)[cp].y) ||
-        !std::isfinite ((*data_)[cp].z))
+    if (!pcl::isXYZFinite((*data_)[cp]))
       continue;
 
     Eigen::Vector3i index_3d;
diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
index 08c81f08e23..f8060868d75 100644
--- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
@@ -259,9 +259,7 @@ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData (
     for (vtkIdType i = 0; i < nr_points; ++i)
     {
       // Check if the point is invalid
-      if (!std::isfinite ((*cloud)[i].x) ||
-          !std::isfinite ((*cloud)[i].y) ||
-          !std::isfinite ((*cloud)[i].z))
+      if (!pcl::isXYZFinite((*cloud)[i]))
         continue;
 
       std::copy (&(*cloud)[i].x, &(*cloud)[i].x + 3, &data[ptr]);
diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
index 991991db08f..7441dd8a4a9 100644
--- a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
+++ b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -171,9 +171,7 @@ PointCloudColorHandlerRGBField<PointT>::getColor () const
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       // Copy the value at the specified field
-      if (!std::isfinite ((*cloud_)[cp].x) ||
-          !std::isfinite ((*cloud_)[cp].y) ||
-          !std::isfinite ((*cloud_)[cp].z))
+      if (!pcl::isXYZFinite((*cloud_)[cp]))
         continue;
       memcpy (&rgb, (reinterpret_cast<const char *> (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB));
       colors[j    ] = rgb.r;
@@ -256,9 +254,7 @@ PointCloudColorHandlerHSVField<PointT>::getColor () const
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       // Copy the value at the specified field
-      if (!std::isfinite ((*cloud_)[cp].x) ||
-          !std::isfinite ((*cloud_)[cp].y) ||
-          !std::isfinite ((*cloud_)[cp].z))
+      if (!pcl::isXYZFinite((*cloud_)[cp]))
         continue;
 
       ///@todo do this with the point_types_conversion in common, first template it!
@@ -409,7 +405,7 @@ PointCloudColorHandlerGenericField<PointT>::getColor () const
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       // Copy the value at the specified field
-      if (!std::isfinite ((*cloud_)[cp].x) || !std::isfinite ((*cloud_)[cp].y) || !std::isfinite ((*cloud_)[cp].z))
+      if (!pcl::isXYZFinite((*cloud_)[cp]))
         continue;
 
       const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[cp]);
@@ -479,9 +475,7 @@ PointCloudColorHandlerRGBAField<PointT>::getColor () const
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       // Copy the value at the specified field
-      if (!std::isfinite ((*cloud_)[cp].x) ||
-          !std::isfinite ((*cloud_)[cp].y) ||
-          !std::isfinite ((*cloud_)[cp].z))
+      if (!pcl::isXYZFinite((*cloud_)[cp]))
         continue;
 
       colors[j    ] = (*cloud_)[cp].r;
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 64df8564a1c..902ee201657 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -4358,7 +4358,7 @@ int
 pcl::visualization::PCLVisualizer::getGeometryHandlerIndex (const std::string &id)
 {
   auto am_it = style_->getCloudActorMap ()->find (id);
-  if (am_it != cloud_actor_map_->end ())
+  if (am_it == cloud_actor_map_->end ())
     return (-1);
 
   return (am_it->second.geometry_handler_index_);
@@ -4593,7 +4593,7 @@ pcl::visualization::PCLVisualizer::getUniqueCameraFile (int argc, char **argv)
       boost::uuids::detail::sha1::digest_type digest;
       sha1.get_digest (digest);
       sstream << ".";
-      for (int i = 0; i < 5; ++i) {
+      for (int i = 0; i < static_cast<int>(sizeof(digest)/sizeof(unsigned int)); ++i) {
         sstream << std::hex << *(reinterpret_cast<unsigned int*>(&digest[0]) + i);
       }
       sstream << ".cam";