diff --git a/modules/core/include/visp3/core/vpImageFilter.h b/modules/core/include/visp3/core/vpImageFilter.h
index aabada47f6..560c79b673 100644
--- a/modules/core/include/visp3/core/vpImageFilter.h
+++ b/modules/core/include/visp3/core/vpImageFilter.h
@@ -294,8 +294,8 @@ class VISP_EXPORT vpImageFilter
                                      const float &lowerThresholdRatio = 0.6, const float &upperThresholdRatio = 0.8,
                                      const vpCannyFilteringAndGradientType &filteringType = CANNY_GBLUR_SOBEL_FILTERING)
   {
-    double w = I.getWidth();
-    double h = I.getHeight();
+    unsigned int w = static_cast<unsigned int>(I.getWidth());
+    unsigned int h = static_cast<unsigned int>(I.getHeight());
 
     vpImage<unsigned char> dI(h, w);
     vpImage<OutType> dIx(h, w), dIy(h, w);
@@ -327,7 +327,7 @@ class VISP_EXPORT vpImageFilter
     float t = (float)(upperThresholdRatio * w * h);
     float bon = 0;
     for (unsigned int i = 0; i < nbBins; ++i) {
-      float tf = hist[i];
+      float tf = static_cast<float>(hist[i]);
       accu = accu + tf;
       if (accu > t) {
         bon = (float)i;
diff --git a/modules/core/src/image/vpImageCircle.cpp b/modules/core/src/image/vpImageCircle.cpp
index 39db6b75d9..5ac5933ae6 100644
--- a/modules/core/src/image/vpImageCircle.cpp
+++ b/modules/core/src/image/vpImageCircle.cpp
@@ -910,16 +910,16 @@ float vpImageCircle::computeAngularCoverageInRoI(const vpRect &roi, const float
 {
   float delta_theta = 0.f;
   vpImagePoint center = m_center;
-  float u_c = center.get_u();
-  float v_c = center.get_v();
+  float u_c = static_cast<float>(center.get_u());
+  float v_c = static_cast<float>(center.get_v());
   float radius = m_radius;
-  float roi_w = roi.getWidth();
-  float roi_h = roi.getHeight();
+  float roi_w = static_cast<float>(roi.getWidth());
+  float roi_h = static_cast<float>(roi.getHeight());
   vpImagePoint topLeft = roi.getTopLeft();
-  float umin_roi = topLeft.get_u();
-  float vmin_roi = topLeft.get_v();
-  float umax_roi = topLeft.get_u() + roi_w;
-  float vmax_roi = topLeft.get_v() + roi_h;
+  float umin_roi = static_cast<float>(topLeft.get_u());
+  float vmin_roi = static_cast<float>(topLeft.get_v());
+  float umax_roi = umin_roi + roi_w;
+  float vmax_roi = vmin_roi + roi_h;
   bool touchLeftBorder = (u_c - radius) <= umin_roi;
   bool touchRightBorder = (u_c + radius) >= umax_roi;
   bool touchTopBorder = (v_c - radius) <= vmin_roi;
diff --git a/modules/core/src/image/vpImageFilter.cpp b/modules/core/src/image/vpImageFilter.cpp
index 3d76af9339..36fa00d62a 100644
--- a/modules/core/src/image/vpImageFilter.cpp
+++ b/modules/core/src/image/vpImageFilter.cpp
@@ -1075,7 +1075,7 @@ void vpImageFilter::canny(const vpImage<unsigned char> &Isrc, vpImage<unsigned c
                                               cannyFilteringSteps);
     }
     else if (lowerCannyThresh < 0.f) {
-      lowerCannyThresh = upperCannyThresh / 3.;
+      lowerCannyThresh = upperCannyThresh / 3.f;
     }
     vpCannyEdgeDetection edgeDetector(gaussianFilterSize, gaussianStdev, apertureGradient, lowerCannyThresh, upperCannyThresh,
                                       lowerThresholdRatio, upperThresholdRatio, cannyFilteringSteps);
diff --git a/modules/imgproc/include/visp3/imgproc/vpContours.h b/modules/imgproc/include/visp3/imgproc/vpContours.h
index 9d2d79c858..8531f0c0f0 100644
--- a/modules/imgproc/include/visp3/imgproc/vpContours.h
+++ b/modules/imgproc/include/visp3/imgproc/vpContours.h
@@ -112,6 +112,8 @@ struct vpDirection
    */
   vpDirection()
   {
+    m_direction = NORTH;
+
     m_dirx[0] = 0;
     m_dirx[1] = 1;
     m_dirx[2] = 1;
diff --git a/modules/imgproc/src/vpCircleHoughTransform.cpp b/modules/imgproc/src/vpCircleHoughTransform.cpp
index 9a457f74a5..f3282608e9 100644
--- a/modules/imgproc/src/vpCircleHoughTransform.cpp
+++ b/modules/imgproc/src/vpCircleHoughTransform.cpp
@@ -607,7 +607,7 @@ vpCircleHoughTransform::computeCenterCandidates()
     }
   }
 
-  unsigned int nbPeaks = peak_positions_votes.size();
+  unsigned int nbPeaks = static_cast<unsigned int>(peak_positions_votes.size());
   if (nbPeaks > 0) {
     std::vector<bool> has_been_merged(nbPeaks, false);
     std::vector<std::pair<std::pair<float, float>, float>> merged_peaks_position_votes;
@@ -672,7 +672,7 @@ vpCircleHoughTransform::computeCenterCandidates()
 
     std::sort(merged_peaks_position_votes.begin(), merged_peaks_position_votes.end(), sortingCenters);
 
-    nbPeaks = merged_peaks_position_votes.size();
+    nbPeaks = static_cast<unsigned int>(merged_peaks_position_votes.size());
     int nbPeaksToKeep = (m_algoParams.m_expectedNbCenters > 0 ? m_algoParams.m_expectedNbCenters : nbPeaks);
     nbPeaksToKeep = std::min<int>(nbPeaksToKeep, (int)nbPeaks);
     for (int i = 0; i < nbPeaksToKeep; i++) {
@@ -793,7 +793,7 @@ vpCircleHoughTransform::computeCircleCandidates()
       }
     }
 
-    unsigned int nbCandidates = v_r_effective.size();
+    unsigned int nbCandidates = static_cast<unsigned int>(v_r_effective.size());
     for (unsigned int idBin = 0; idBin < nbCandidates; ++idBin) {
       // If the circle of center CeC_i  and radius RCB_k has enough votes, it is added to the list
       // of Circle Candidates
diff --git a/modules/robot/src/real-robot/pololu-maestro/vpRobotPololuPtu.cpp b/modules/robot/src/real-robot/pololu-maestro/vpRobotPololuPtu.cpp
index f6dabef9e8..be3c57a42c 100644
--- a/modules/robot/src/real-robot/pololu-maestro/vpRobotPololuPtu.cpp
+++ b/modules/robot/src/real-robot/pololu-maestro/vpRobotPololuPtu.cpp
@@ -47,12 +47,12 @@ vpRobotPololuPtu::vpRobotPololuPtu(const std::string &device, int baudrate, bool
   nDof = 2;
   m_pan.connect(device, baudrate, 0);
   m_pan.setPwmRange(4095, 7905);
-  m_pan.setAngularRange(vpMath::rad(-45), vpMath::rad(45));
+  m_pan.setAngularRange(static_cast<float>(vpMath::rad(-45)), static_cast<float>(vpMath::rad(45)));
   m_pan.setVerbose(verbose);
 
   m_tilt.connect(device, baudrate, 1);
   m_tilt.setPwmRange(4095, 7905);
-  m_tilt.setAngularRange(vpMath::rad(-45), vpMath::rad(45));
+  m_tilt.setAngularRange(static_cast<float>(vpMath::rad(-45)), static_cast<float>(vpMath::rad(45)));
   m_tilt.setVerbose(verbose);
 }
 
@@ -151,9 +151,9 @@ void vpRobotPololuPtu::setPosition(const vpRobot::vpControlFrameType frame, cons
     break;
   }
 
-  float pos_vel = m_positioning_velocity_percentage * getMaxRotationVelocity();
-  m_pan.setAngularPosition(q[0], pos_vel);
-  m_tilt.setAngularPosition(q[1], pos_vel);
+  float pos_vel = m_positioning_velocity_percentage * static_cast<float>(getMaxRotationVelocity());
+  m_pan.setAngularPosition(static_cast<float>(q[0]), pos_vel);
+  m_tilt.setAngularPosition(static_cast<float>(q[1]), pos_vel);
 }
 
 void vpRobotPololuPtu::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)
@@ -227,8 +227,8 @@ void vpRobotPololuPtu::setVelocity(const vpRobot::vpControlFrameType frame, cons
 
   std::cout << "Send velocity: " << q_dot_sat.t() << std::endl;
 
-  m_pan.setAngularVelocity(q_dot_sat[0]);
-  m_tilt.setAngularVelocity(q_dot_sat[1]);
+  m_pan.setAngularVelocity(static_cast<float>(q_dot_sat[0]));
+  m_tilt.setAngularVelocity(static_cast<float>(q_dot_sat[1]));
 }
 
 vpRobot::vpRobotStateType vpRobotPololuPtu::setRobotState(vpRobot::vpRobotStateType newState)
diff --git a/modules/robot/test/servo-pololu/testPololuPosition.cpp b/modules/robot/test/servo-pololu/testPololuPosition.cpp
index 0e4799f93f..3b49043c98 100644
--- a/modules/robot/test/servo-pololu/testPololuPosition.cpp
+++ b/modules/robot/test/servo-pololu/testPololuPosition.cpp
@@ -103,9 +103,9 @@ int main(int argc, const char **argv)
   bool opt_calibrate = false;
   unsigned short opt_pwm_min = 4000;
   unsigned short opt_pwm_max = 8000;
-  float opt_angle_min = vpMath::rad(-45);
-  float opt_angle_max = vpMath::rad(45);
-  float opt_positioning_velocity = vpMath::rad(10);
+  float opt_angle_min = static_cast<float>(vpMath::rad(-45));
+  float opt_angle_max = static_cast<float>(vpMath::rad(45));
+  float opt_positioning_velocity = static_cast<float>(vpMath::rad(10));
   float last_angle = 0;
   int time_s = 0;
 
diff --git a/modules/robot/test/servo-pololu/testPololuVelocity.cpp b/modules/robot/test/servo-pololu/testPololuVelocity.cpp
index d9224a5f13..7d9610b4ad 100644
--- a/modules/robot/test/servo-pololu/testPololuVelocity.cpp
+++ b/modules/robot/test/servo-pololu/testPololuVelocity.cpp
@@ -101,9 +101,9 @@ int main(int argc, const char **argv)
   bool opt_calibrate = false;
   unsigned short opt_pwm_min = 4000;
   unsigned short opt_pwm_max = 8000;
-  float opt_angle_min = vpMath::rad(-45);
-  float opt_angle_max = vpMath::rad(45);
-  float opt_velocity = vpMath::rad(5);
+  float opt_angle_min = static_cast<float>(vpMath::rad(-45));
+  float opt_angle_max = static_cast<float>(vpMath::rad(45));
+  float opt_velocity = static_cast<float>(vpMath::rad(5));
   float last_angle = 0;
 
   for (int i = 1; i < argc; i++) {
diff --git a/tutorial/image/tutorial-canny.cpp b/tutorial/image/tutorial-canny.cpp
index f11301bf5e..94d1aab72e 100644
--- a/tutorial/image/tutorial-canny.cpp
+++ b/tutorial/image/tutorial-canny.cpp
@@ -49,7 +49,7 @@ void computeMeanMaxStdev(const vpImage<T> &I, float &mean, float &max, float &st
   stdev = 0.;
   unsigned int nbRows = I.getRows();
   unsigned int nbCols = I.getCols();
-  float scale = 1. / ((float)nbRows * (float)nbCols);
+  float scale = 1.f / (static_cast<float>(nbRows) * static_cast<float>(nbCols));
   for (unsigned int r = 0; r < nbRows; r++) {
     for (unsigned int c = 0; c < nbCols; c++) {
       mean += I[r][c];
@@ -178,12 +178,12 @@ int main(int argc, const char *argv[])
     else if ((argv_str == "-g" || argv_str == "--gradient") && i + 2 < argc) {
       opt_gradientOutsideClass = true;
       opt_gaussianKernelSize = atoi(argv[i + 1]);
-      opt_gaussianStdev = atoi(argv[i + 2]);
+      opt_gaussianStdev = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-t" || argv_str == "--thresh") && i + 2 < argc) {
-      opt_lowerThresh = atof(argv[i + 1]);
-      opt_upperThresh = atof(argv[i + 2]);
+      opt_lowerThresh = static_cast<float>(atof(argv[i + 1]));
+      opt_upperThresh = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-a" || argv_str == "--aperture") && i + 1 < argc) {
@@ -195,8 +195,8 @@ int main(int argc, const char *argv[])
       i++;
     }
     else if ((argv_str == "-r" || argv_str == "--ratio") && i + 2 < argc) {
-      opt_lowerThreshRatio = std::atof(argv[i + 1]);
-      opt_upperThreshRatio = std::atof(argv[i + 2]);
+      opt_lowerThreshRatio = static_cast<float>(std::atof(argv[i + 1]));
+      opt_upperThreshRatio = static_cast<float>(std::atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-b" || argv_str == "--backend") && i + 1 < argc) {
diff --git a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
index d89f7bcb51..5e2fb6beee 100644
--- a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
+++ b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
@@ -191,11 +191,11 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--lower-canny-ratio" && i + 1 < argc) {
-      opt_lowerCannyThreshRatio = atof(argv[i + 1]);
+      opt_lowerCannyThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--upper-canny-ratio" && i + 1 < argc) {
-      opt_upperCannyThreshRatio = atof(argv[i + 1]);
+      opt_upperCannyThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--expected-nb-centers" && i + 1 < argc) {
@@ -247,7 +247,7 @@ int main(int argc, char **argv)
       std::cout << "DESCRIPTION" << std::endl
         << "\t--input" << std::endl
         << "\t\tPermit to choose the input of the Hough Circle Algorithm." << std::endl
-        << "\t\tIf you want to use a succession of images as video, their name must be in the format ${BASENAME}\%d.{jpg, png}." << std::endl
+        << "\t\tIf you want to use a succession of images as video, their name must be in the format ${BASENAME}%d.{jpg, png}." << std::endl
         << "\t\tDefault: " << def_input << std::endl
         << std::endl
 #ifdef VISP_HAVE_NLOHMANN_JSON