diff --git a/modules/core/include/visp3/core/vpArray2D.h b/modules/core/include/visp3/core/vpArray2D.h
index 55877334cc..d466f451b6 100644
--- a/modules/core/include/visp3/core/vpArray2D.h
+++ b/modules/core/include/visp3/core/vpArray2D.h
@@ -215,7 +215,7 @@ template <class Type> class vpArray2D
     rowNum(0), colNum(0), rowPtrs(nullptr), dsize(0), data(nullptr)
 #endif
   {
-    if (r > 0 && c > 0) {
+    if ((r > 0) && (c > 0)) {
       if ((r * c) != vec.size()) {
         throw(vpException(vpException::dimensionError,
                           "Cannot initialize vpArray(%d, %d) from std::vector(%d). Wrong dimension", r, c, vec.size()));
@@ -273,7 +273,7 @@ template <class Type> class vpArray2D
   explicit vpArray2D<Type>(unsigned int nrows, unsigned int ncols, const std::initializer_list<Type> &list)
     : rowNum(0), colNum(0), rowPtrs(nullptr), dsize(0), data(nullptr)
   {
-    if (nrows * ncols != static_cast<unsigned int>(list.size())) {
+    if ((nrows * ncols) != static_cast<unsigned int>(list.size())) {
       std::ostringstream oss;
       oss << "Cannot create a vpArray2D of size (" << nrows << ", " << ncols << ") with a list of size " << list.size();
       throw vpException(vpException::dimensionError, oss.str());
@@ -294,7 +294,7 @@ template <class Type> class vpArray2D
 
     resize(nrows, ncols, false, false);
     auto it = lists.begin();
-    for (unsigned int i = 0; i < rowNum; i++, ++it) {
+    for (unsigned int i = 0; i < rowNum; ++i, ++it) {
       std::copy(it->begin(), it->end(), rowPtrs[i]);
     }
   }
@@ -314,7 +314,9 @@ template <class Type> class vpArray2D
       free(rowPtrs);
       rowPtrs = nullptr;
     }
-    rowNum = colNum = dsize = 0;
+    rowNum = 0;
+    colNum = 0;
+    dsize = 0;
   }
 
   /** @name Inherited functionalities from vpArray2D */
@@ -352,19 +354,20 @@ template <class Type> class vpArray2D
   void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true, bool recopy_ = true)
   {
     if ((nrows == rowNum) && (ncols == colNum)) {
-      if (flagNullify && this->data != nullptr) {
+      if (flagNullify && (this->data != nullptr)) {
         memset(this->data, 0, this->dsize * sizeof(Type));
       }
     }
     else {
-      bool recopy = !flagNullify && recopy_; // priority to flagNullify
-      const bool recopyNeeded = (ncols != this->colNum && this->colNum > 0 && ncols > 0 && (!flagNullify || recopy));
+      bool recopy = (!flagNullify) && recopy_; // priority to flagNullify
+      bool colcond = (ncols != this->colNum) && (this->colNum > 0) && (ncols > 0);
+      const bool recopyNeeded = colcond && ((!flagNullify) || recopy);
       Type *copyTmp = nullptr;
       unsigned int rowTmp = 0, colTmp = 0;
 
       // Recopy case per case is required if number of cols has changed;
       // structure of Type array is not the same in this case.
-      if (recopyNeeded && this->data != nullptr) {
+      if (recopyNeeded && (this->data != nullptr)) {
         copyTmp = new Type[this->dsize];
         memcpy(copyTmp, this->data, sizeof(Type) * this->dsize);
         rowTmp = this->rowNum;
@@ -404,11 +407,10 @@ template <class Type> class vpArray2D
       }
 
       // Update rowPtrs
-      {
-        Type **t_ = rowPtrs;
-        for (unsigned int i = 0; i < dsize; i += ncols) {
-          *t_++ = this->data + i;
-        }
+
+      Type **t_ = rowPtrs;
+      for (unsigned int i = 0; i < dsize; i += ncols) {
+        *t_++ = this->data + i;
       }
 
       this->rowNum = nrows;
@@ -416,16 +418,16 @@ template <class Type> class vpArray2D
 
       // Recopy of this->data array values or nullify
       if (flagNullify) {
-        memset(this->data, 0, (size_t)(this->dsize) * sizeof(Type));
+        memset(this->data, 0, static_cast<size_t>(this->dsize) * sizeof(Type));
       }
-      else if (recopyNeeded && this->rowPtrs != nullptr) {
+      else if (recopyNeeded && (this->rowPtrs != nullptr)) {
         // Recopy...
         unsigned int minRow = (this->rowNum < rowTmp) ? this->rowNum : rowTmp;
         unsigned int minCol = (this->colNum < colTmp) ? this->colNum : colTmp;
         for (unsigned int i = 0; i < this->rowNum; ++i) {
           for (unsigned int j = 0; j < this->colNum; ++j) {
             if ((minRow > i) && (minCol > j)) {
-              (*this)[i][j] = copyTmp[i * colTmp + j];
+              (*this)[i][j] = copyTmp[(i * colTmp) + j];
             }
             else {
               (*this)[i][j] = 0;
@@ -447,7 +449,7 @@ template <class Type> class vpArray2D
       return;
     }
 
-    if (nrows * ncols != dsize) {
+    if ((nrows * ncols) != dsize) {
       std::ostringstream oss;
       oss << "Cannot reshape array of total size " << dsize << " into shape (" << nrows << ", " << ncols << ")";
       throw vpException(vpException::dimensionError, oss.str());
@@ -483,13 +485,14 @@ template <class Type> class vpArray2D
   */
   void insert(const vpArray2D<Type> &A, unsigned int r, unsigned int c)
   {
-    if ((r + A.getRows()) <= rowNum && (c + A.getCols()) <= colNum) {
-      if (A.colNum == colNum && data != nullptr && A.data != nullptr && A.data != data) {
-        memcpy(data + r * colNum, A.data, sizeof(Type) * A.size());
+    if (((r + A.getRows()) <= rowNum) && ((c + A.getCols()) <= colNum)) {
+      if ((A.colNum == colNum) && (data != nullptr) && (A.data != nullptr) && (A.data != data)) {
+        memcpy(data + (r * colNum), A.data, sizeof(Type) * A.size());
       }
-      else if (data != nullptr && A.data != nullptr && A.data != data) {
-        for (unsigned int i = r; i < (r + A.getRows()); ++i) {
-          memcpy(data + i * colNum + c, A.data + (i - r) * A.colNum, sizeof(Type) * A.colNum);
+      else if ((data != nullptr) && (A.data != nullptr) && (A.data != data)) {
+        unsigned int a_rows = A.getRows();
+        for (unsigned int i = r; i < (r + a_rows); ++i) {
+          memcpy(data + (i * colNum) + c, A.data + ((i - r) * A.colNum), sizeof(Type) * A.colNum);
         }
       }
     }
@@ -521,8 +524,8 @@ template <class Type> class vpArray2D
   vpArray2D<Type> &operator=(const vpArray2D<Type> &A)
   {
     resize(A.rowNum, A.colNum, false, false);
-    if (data != nullptr && A.data != nullptr && data != A.data) {
-      memcpy(data, A.data, (size_t)rowNum * (size_t)colNum * sizeof(Type));
+    if ((data != nullptr) && (A.data != nullptr) && (data != A.data)) {
+      memcpy(data, A.data, static_cast<size_t>(rowNum) * static_cast<size_t>(colNum) * sizeof(Type));
     }
     return *this;
   }
@@ -575,7 +578,7 @@ template <class Type> class vpArray2D
 
     resize(nrows, ncols, false, false);
     auto it = lists.begin();
-    for (unsigned int i = 0; i < rowNum; i++, ++it) {
+    for (unsigned int i = 0; i < rowNum; ++i, ++it) {
       std::copy(it->begin(), it->end(), rowPtrs[i]);
     }
 
@@ -599,20 +602,22 @@ template <class Type> class vpArray2D
     */
   friend std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)
   {
-    if (A.data == nullptr || A.size() == 0) {
+    if ((A.data == nullptr) || (A.size() == 0)) {
       return s;
     }
     std::ios_base::fmtflags original_flags = s.flags();
 
     s.precision(10);
-    for (unsigned int i = 0; i < A.getRows(); ++i) {
-      for (unsigned int j = 0; j < A.getCols() - 1; ++j) {
+    unsigned int a_rows = A.getRows();
+    unsigned int a_cols = A.getCols();
+    for (unsigned int i = 0; i < a_rows; ++i) {
+      for (unsigned int j = 0; j < (a_cols - 1); ++j) {
         s << A[i][j] << "  ";
       }
       // We don't add "  " after the last row element
-      s << A[i][A.getCols() - 1];
+      s << A[i][a_cols - 1];
       // We don't add a \n char on the end of the last array line
-      if (i < A.getRows() - 1) {
+      if (i < (a_rows - 1)) {
         s << std::endl;
       }
     }
@@ -704,7 +709,7 @@ template <class Type> class vpArray2D
       file >> rows;
       file >> cols;
 
-      if (rows >= (std::numeric_limits<unsigned int>::max)() || cols >= (std::numeric_limits<unsigned int>::max)()) {
+      if ((rows >= std::numeric_limits<unsigned int>::max()) || (cols >= std::numeric_limits<unsigned int>::max())) {
         throw vpException(vpException::badValue, "Array exceed the max size.");
       }
 
@@ -736,14 +741,14 @@ template <class Type> class vpArray2D
       }
 
       unsigned int rows, cols;
-      file.read((char *)&rows, sizeof(unsigned int));
-      file.read((char *)&cols, sizeof(unsigned int));
+      file.read(reinterpret_cast<char *>(&rows), sizeof(unsigned int));
+      file.read(reinterpret_cast<char *>(&cols), sizeof(unsigned int));
       A.resize(rows, cols);
 
       Type value;
       for (unsigned int i = 0; i < rows; ++i) {
         for (unsigned int j = 0; j < cols; ++j) {
-          file.read((char *)&value, sizeof(Type));
+          file.read(reinterpret_cast<char *>(&value), sizeof(Type));
           A[i][j] = value;
         }
       }
@@ -784,12 +789,12 @@ template <class Type> class vpArray2D
 
     while (getline(file, line)) {
       if (inheader) {
-        if (rows == 0 && line.compare(0, 5, "rows:") == 0) {
+        if ((rows == 0) && (line.compare(0, 5, "rows:") == 0)) {
           std::stringstream ss(line);
           ss >> subs;
           ss >> rows;
         }
-        else if (cols == 0 && line.compare(0, 5, "cols:") == 0) {
+        else if ((cols == 0) && (line.compare(0, 5, "cols:") == 0)) {
           std::stringstream ss(line);
           ss >> subs;
           ss >> cols;
@@ -805,20 +810,20 @@ template <class Type> class vpArray2D
         // if i == 0, we just got out of the header: initialize matrix
         // dimensions
         if (i == 0) {
-          if (rows == 0 || cols == 0) {
+          if ((rows == 0) || (cols == 0)) {
             file.close();
             return false;
           }
           A.resize(rows, cols);
           // get indentation level which is common to all lines
-          lineStart = (unsigned int)line.find("[") + 1;
+          lineStart = static_cast<unsigned int>(line.find("[")) + 1;
         }
         std::stringstream ss(line.substr(lineStart, line.find("]") - lineStart));
         j = 0;
         while (getline(ss, subs, ',')) {
           A[i][j++] = atof(subs.c_str());
         }
-        i++;
+        ++i;
       }
     }
 
@@ -876,7 +881,7 @@ template <class Type> class vpArray2D
         if (header[i] == '\n') {
           file << "# ";
         }
-        i++;
+        ++i;
       }
       file << std::endl;
       file << A.getRows() << "\t" << A.getCols() << std::endl;
@@ -885,19 +890,21 @@ template <class Type> class vpArray2D
     else {
       int headerSize = 0;
       while (header[headerSize] != '\0') {
-        headerSize++;
+        ++headerSize;
       }
-      file.write(header, (size_t)headerSize + (size_t)1);
+      file.write(header, static_cast<size_t>(headerSize)+static_cast<size_t>(1));
       unsigned int matrixSize;
       matrixSize = A.getRows();
-      file.write((char *)&matrixSize, sizeof(unsigned int));
+      file.write(reinterpret_cast<char *>(&matrixSize), sizeof(unsigned int));
       matrixSize = A.getCols();
-      file.write((char *)&matrixSize, sizeof(unsigned int));
+      file.write(reinterpret_cast<char *>(&matrixSize), sizeof(unsigned int));
       Type value;
-      for (unsigned int i = 0; i < A.getRows(); ++i) {
-        for (unsigned int j = 0; j < A.getCols(); ++j) {
+      unsigned int a_rows = A.getRows();
+      unsigned int a_cols = A.getCols();
+      for (unsigned int i = 0; i < a_rows; ++i) {
+        for (unsigned int j = 0; j < a_cols; ++j) {
           value = A[i][j];
-          file.write((char *)&value, sizeof(Type));
+          file.write(reinterpret_cast<char *>(&value), sizeof(Type));
         }
       }
     }
@@ -973,14 +980,14 @@ template <class Type> class vpArray2D
             checkIndent = false;
           }
         }
-        if (header[i] == '\n' || (inIndent && header[i] == ' ')) {
+        if ((header[i] == '\n') || (inIndent && (header[i] == ' '))) {
           inIndent = true;
         }
         else {
           inIndent = false;
         }
       }
-      i++;
+      ++i;
     }
 
     if (i != 0) {
@@ -995,9 +1002,11 @@ template <class Type> class vpArray2D
 
     file << "data: " << std::endl;
     unsigned int j;
-    for (i = 0; i < A.getRows(); ++i) {
+    unsigned int a_rows = A.getRows();
+    unsigned int a_cols = A.getCols();
+    for (i = 0; i < a_rows; ++i) {
       file << indent << "- [";
-      for (j = 0; j < A.getCols() - 1; ++j) {
+      for (j = 0; j < (a_cols - 1); ++j) {
         file << A[i][j] << ", ";
       }
       file << A[i][j] << "]" << std::endl;
@@ -1080,12 +1089,12 @@ template <class Type> Type vpArray2D<Type>::getMinValue() const
 {
   Type *dataptr = data;
   Type min = *dataptr;
-  dataptr++;
-  for (unsigned int i = 0; i < dsize - 1; ++i) {
+  ++dataptr;
+  for (unsigned int i = 0; i < (dsize - 1); ++i) {
     if (*dataptr < min) {
       min = *dataptr;
     }
-    dataptr++;
+    ++dataptr;
   }
   return min;
 }
@@ -1097,12 +1106,12 @@ template <class Type> Type vpArray2D<Type>::getMaxValue() const
 {
   Type *dataptr = data;
   Type max = *dataptr;
-  dataptr++;
-  for (unsigned int i = 0; i < dsize - 1; ++i) {
+  ++dataptr;
+  for (unsigned int i = 0; i < (dsize - 1); ++i) {
     if (*dataptr > max) {
       max = *dataptr;
     }
-    dataptr++;
+    ++dataptr;
   }
   return max;
 }
@@ -1115,7 +1124,7 @@ template <class Type> Type vpArray2D<Type>::getMaxValue() const
 */
 template <class Type> vpArray2D<Type> vpArray2D<Type>::hadamard(const vpArray2D<Type> &m) const
 {
-  if (m.getRows() != rowNum || m.getCols() != colNum) {
+  if ((m.getRows() != rowNum) || (m.getCols() != colNum)) {
     throw(vpException(vpException::dimensionError, "Hadamard product: bad dimensions!"));
   }
 
@@ -1149,20 +1158,22 @@ template <class Type> vpArray2D<Type> vpArray2D<Type>::conv2(const vpArray2D<Typ
 
 template <class Type> void vpArray2D<Type>::conv2(const vpArray2D<Type> &M, const vpArray2D<Type> &kernel, vpArray2D<Type> &res, const std::string &mode)
 {
-  if (M.getRows() * M.getCols() == 0 || kernel.getRows() * kernel.getCols() == 0)
+  if (((M.getRows() * M.getCols()) == 0) || ((kernel.getRows() * kernel.getCols()) == 0)) {
     return;
+  }
 
   if (mode == "valid") {
-    if (kernel.getRows() > M.getRows() || kernel.getCols() > M.getCols())
+    if ((kernel.getRows() > M.getRows()) || (kernel.getCols() > M.getCols())) {
       return;
+    }
   }
 
   vpArray2D<Type> M_padded, res_same;
 
-  if (mode == "full" || mode == "same") {
+  if ((mode == "full") || (mode == "same")) {
     const unsigned int pad_x = kernel.getCols() - 1;
     const unsigned int pad_y = kernel.getRows() - 1;
-    M_padded.resize(M.getRows() + 2 * pad_y, M.getCols() + 2 * pad_x, true, false);
+    M_padded.resize(M.getRows() + (2 * pad_y), M.getCols() + (2 * pad_x), true, false);
     M_padded.insert(M, pad_y, pad_x);
 
     if (mode == "same") {
@@ -1175,17 +1186,21 @@ template <class Type> void vpArray2D<Type>::conv2(const vpArray2D<Type> &M, cons
   }
   else if (mode == "valid") {
     M_padded = M;
-    res.resize(M.getRows() - kernel.getRows() + 1, M.getCols() - kernel.getCols() + 1);
+    res.resize((M.getRows() - kernel.getRows()) + 1, (M.getCols() - kernel.getCols()) + 1);
   }
   else {
     return;
   }
 
   if (mode == "same") {
-    for (unsigned int i = 0; i < res_same.getRows(); ++i) {
-      for (unsigned int j = 0; j < res_same.getCols(); ++j) {
-        for (unsigned int k = 0; k < kernel.getRows(); ++k) {
-          for (unsigned int l = 0; l < kernel.getCols(); ++l) {
+    unsigned int res_same_rows = res_same.getRows();
+    unsigned int res_same_cols = res_same.getCols();
+    unsigned int kernel_rows = kernel.getRows();
+    unsigned int kernel_cols = kernel.getCols();
+    for (unsigned int i = 0; i < res_same_rows; ++i) {
+      for (unsigned int j = 0; j < res_same_cols; ++j) {
+        for (unsigned int k = 0; k < kernel_rows; ++k) {
+          for (unsigned int l = 0; l < kernel_cols; ++l) {
             res_same[i][j] += M_padded[i + k][j + l] * kernel[kernel.getRows() - k - 1][kernel.getCols() - l - 1];
           }
         }
@@ -1194,16 +1209,21 @@ template <class Type> void vpArray2D<Type>::conv2(const vpArray2D<Type> &M, cons
 
     const unsigned int start_i = kernel.getRows() / 2;
     const unsigned int start_j = kernel.getCols() / 2;
-    for (unsigned int i = 0; i < M.getRows(); ++i) {
-      memcpy(res.data + i * M.getCols(), res_same.data + (i + start_i) * res_same.getCols() + start_j,
+    unsigned int m_rows = M.getRows();
+    for (unsigned int i = 0; i < m_rows; ++i) {
+      memcpy(res.data + (i * M.getCols()), res_same.data + ((i + start_i) * res_same.getCols()) + start_j,
              sizeof(Type) * M.getCols());
     }
   }
   else {
-    for (unsigned int i = 0; i < res.getRows(); ++i) {
-      for (unsigned int j = 0; j < res.getCols(); ++j) {
-        for (unsigned int k = 0; k < kernel.getRows(); ++k) {
-          for (unsigned int l = 0; l < kernel.getCols(); ++l) {
+    unsigned int res_rows = res.getRows();
+    unsigned int res_cols = res.getCols();
+    unsigned int kernel_rows = kernel.getRows();
+    unsigned int kernel_cols = kernel.getCols();
+    for (unsigned int i = 0; i < res_rows; ++i) {
+      for (unsigned int j = 0; j < res_cols; ++j) {
+        for (unsigned int k = 0; k < kernel_rows; ++k) {
+          for (unsigned int l = 0; l < kernel_cols; ++l) {
             res[i][j] += M_padded[i + k][j + l] * kernel[kernel.getRows() - k - 1][kernel.getCols() - l - 1];
           }
         }
@@ -1226,9 +1246,11 @@ template<class Type> void vpArray2D<Type>::insert(const vpArray2D<Type> &A, cons
   if (((r + B.getRows()) <= A.getRows()) && ((c + B.getCols()) <= A.getCols())) {
     C.resize(A.getRows(), A.getCols(), false, false);
 
-    for (unsigned int i = 0; i < A.getRows(); ++i) {
-      for (unsigned int j = 0; j < A.getCols(); ++j) {
-        if (i >= r && i < (r + B.getRows()) && j >= c && j < (c + B.getCols())) {
+    unsigned int a_rows = A.getRows();
+    unsigned int a_cols = A.getCols();
+    for (unsigned int i = 0; i < a_rows; ++i) {
+      for (unsigned int j = 0; j < a_cols; ++j) {
+        if ((i >= r) && (i < (r + B.getRows())) && (j >= c) && (j < (c + B.getCols()))) {
           C[i][j] = B[i - r][j - c];
         }
         else {
@@ -1245,11 +1267,12 @@ template<class Type> void vpArray2D<Type>::insert(const vpArray2D<Type> &A, cons
 
 template <class Type> bool vpArray2D<Type>::operator==(const vpArray2D<Type> &A) const
 {
-  if (A.rowNum != rowNum || A.colNum != colNum) {
+  if ((A.rowNum != rowNum) || (A.colNum != colNum)) {
     return false;
   }
 
-  for (unsigned int i = 0; i < A.size(); ++i) {
+  unsigned int a_size = A.size();
+  for (unsigned int i = 0; i < a_size; ++i) {
     if (data[i] != A.data[i]) {
       return false;
     }
@@ -1263,11 +1286,12 @@ template <class Type> bool vpArray2D<Type>::operator==(const vpArray2D<Type> &A)
  */
 template <> inline bool vpArray2D<double>::operator==(const vpArray2D<double> &A) const
 {
-  if (A.rowNum != rowNum || A.colNum != colNum) {
+  if ((A.rowNum != rowNum) || (A.colNum != colNum)) {
     return false;
   }
 
-  for (unsigned int i = 0; i < A.size(); ++i) {
+  unsigned int a_size = A.size();
+  for (unsigned int i = 0; i < a_size; ++i) {
     if (fabs(data[i] - A.data[i]) > std::numeric_limits<double>::epsilon()) {
       return false;
     }
@@ -1281,11 +1305,12 @@ template <> inline bool vpArray2D<double>::operator==(const vpArray2D<double> &A
  */
 template <> inline bool vpArray2D<float>::operator==(const vpArray2D<float> &A) const
 {
-  if (A.rowNum != rowNum || A.colNum != colNum) {
+  if ((A.rowNum != rowNum) || (A.colNum != colNum)) {
     return false;
   }
 
-  for (unsigned int i = 0; i < A.size(); ++i) {
+  unsigned int a_size = A.size();
+  for (unsigned int i = 0; i < a_size; ++i) {
     if (fabsf(data[i] - A.data[i]) > std::numeric_limits<float>::epsilon()) {
       return false;
     }
diff --git a/modules/core/include/visp3/core/vpColVector.h b/modules/core/include/visp3/core/vpColVector.h
index e1e2ac4420..18906e6522 100644
--- a/modules/core/include/visp3/core/vpColVector.h
+++ b/modules/core/include/visp3/core/vpColVector.h
@@ -206,17 +206,17 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    * Constructor that initialize a column vector from a 3-dim (Euler or
    * \f$\theta {\bf u}\f$) or 4-dim (quaternion) rotation vector.
    */
-  vpColVector(const vpRotationVector &v);
+  explicit vpColVector(const vpRotationVector &v);
 
   /*!
    * Constructor that initialize a column vector from a 6-dim pose vector.
    */
-  vpColVector(const vpPoseVector &p);
+  explicit vpColVector(const vpPoseVector &p);
 
   /*!
    * Constructor that initialize a column vector from a 3-dim translation vector.
    */
-  vpColVector(const vpTranslationVector &t);
+  explicit vpColVector(const vpTranslationVector &t);
 
   /*!
    * Constructor that creates a column vector from a m-by-1 matrix `M`.
@@ -224,7 +224,7 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    * \exception vpException::dimensionError If the matrix is not a m-by-1
    * matrix.
    */
-  vpColVector(const vpMatrix &M);
+  explicit vpColVector(const vpMatrix &M);
 
   /*!
    * Constructor that takes column `j` of matrix `M`.
@@ -234,12 +234,12 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
   /*!
    * Constructor that creates a column vector from a std vector of double.
    */
-  vpColVector(const std::vector<double> &v);
+  explicit vpColVector(const std::vector<double> &v);
 
   /*!
    * Constructor that creates a column vector from a std vector of float.
    */
-  vpColVector(const std::vector<float> &v);
+  explicit vpColVector(const std::vector<float> &v);
 
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   /*!
@@ -366,7 +366,7 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    */
   vpColVector extract(unsigned int r, unsigned int colsize) const
   {
-    if (r >= rowNum || r + colsize > rowNum) {
+    if ((r >= rowNum) || ((r + colsize) > rowNum)) {
       throw(vpException(vpException::fatalError,
                         "Cannot extract a (%dx1) column vector from a (%dx1) "
                         "column vector starting at index %d",
diff --git a/modules/core/include/visp3/core/vpDebug.h b/modules/core/include/visp3/core/vpDebug.h
index 5b3eee6b8b..a9329f5be6 100644
--- a/modules/core/include/visp3/core/vpDebug.h
+++ b/modules/core/include/visp3/core/vpDebug.h
@@ -169,10 +169,12 @@ class vpTraceOutput
       va_list args;
       va_start(args, format);
 
-      if (err)
+      if (err) {
         std::cerr << "(L" << level << ") ";
-      else
+      }
+      else {
         std::cout << "(L" << level << ") ";
+      }
 
       // calls display with it
       display(format, args);
diff --git a/modules/core/include/visp3/core/vpForceTwistMatrix.h b/modules/core/include/visp3/core/vpForceTwistMatrix.h
index 2f9270af95..c4630d39b1 100644
--- a/modules/core/include/visp3/core/vpForceTwistMatrix.h
+++ b/modules/core/include/visp3/core/vpForceTwistMatrix.h
@@ -174,8 +174,8 @@ class VISP_EXPORT vpForceTwistMatrix : public vpArray2D<double>
   vpForceTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau);
   vpForceTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
 
-  vpForceTwistMatrix(const vpRotationMatrix &R);
-  vpForceTwistMatrix(const vpThetaUVector &thetau);
+  explicit vpForceTwistMatrix(const vpRotationMatrix &R);
+  explicit vpForceTwistMatrix(const vpThetaUVector &thetau);
 
   vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
   vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
diff --git a/modules/core/include/visp3/core/vpGEMM.h b/modules/core/include/visp3/core/vpGEMM.h
index ad0b44c0ea..23837d406b 100644
--- a/modules/core/include/visp3/core/vpGEMM.h
+++ b/modules/core/include/visp3/core/vpGEMM.h
@@ -149,52 +149,60 @@ template <>
 inline void GEMM1<0>(const unsigned int &Arows, const unsigned int &Brows, const unsigned int &Bcols,
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[n][c] * alpha;
+      }
       D[r][c] = sum;
     }
+  }
 }
 
 template <>
 inline void GEMM1<1>(const unsigned int &Arows, const unsigned int &Brows, const unsigned int &Bcols,
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[n][c] * alpha;
+      }
       D[r][c] = sum;
     }
+  }
 }
 
 template <>
 inline void GEMM1<2>(const unsigned int &Arows, const unsigned int &Brows, const unsigned int &Bcols,
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[c][n] * alpha;
+      }
       D[r][c] = sum;
     }
+  }
 }
 
 template <>
 inline void GEMM1<3>(const unsigned int &Arows, const unsigned int &Brows, const unsigned int &Bcols,
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[c][n] * alpha;
+      }
       D[r][c] = sum;
     }
+  }
 }
 
 template <unsigned int>
@@ -208,13 +216,15 @@ inline void GEMM2<0>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[n][c] * alpha;
-      D[r][c] = sum + C[r][c] * beta;
+      }
+      D[r][c] = sum + (C[r][c] * beta);
     }
+  }
 }
 
 template <>
@@ -222,13 +232,15 @@ inline void GEMM2<1>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[n][c] * alpha;
-      D[r][c] = sum + C[r][c] * beta;
+      }
+      D[r][c] = sum + (C[r][c] * beta);
     }
+  }
 }
 
 template <>
@@ -236,13 +248,15 @@ inline void GEMM2<2>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[c][n] * alpha;
-      D[r][c] = sum + C[r][c] * beta;
+      }
+      D[r][c] = sum + (C[r][c] * beta);
     }
+  }
 }
 
 template <>
@@ -250,13 +264,15 @@ inline void GEMM2<3>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[c][n] * alpha;
-      D[r][c] = sum + C[r][c] * beta;
+      }
+      D[r][c] = sum + (C[r][c] * beta);
     }
+  }
 }
 
 template <>
@@ -264,13 +280,15 @@ inline void GEMM2<4>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[n][c] * alpha;
-      D[r][c] = sum + C[c][r] * beta;
+      }
+      D[r][c] = sum + (C[c][r] * beta);
     }
+  }
 }
 
 template <>
@@ -278,13 +296,15 @@ inline void GEMM2<5>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[n][c] * alpha;
-      D[r][c] = sum + C[c][r] * beta;
+      }
+      D[r][c] = sum + (C[c][r] * beta);
     }
+  }
 }
 
 template <>
@@ -292,13 +312,15 @@ inline void GEMM2<6>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[r][n] * B[c][n] * alpha;
-      D[r][c] = sum + C[c][r] * beta;
+      }
+      D[r][c] = sum + (C[c][r] * beta);
     }
+  }
 }
 
 template <>
@@ -306,13 +328,15 @@ inline void GEMM2<7>(const unsigned int &Arows, const unsigned int &Brows, const
                      const vpArray2D<double> &A, const vpArray2D<double> &B, const double &alpha,
                      const vpArray2D<double> &C, const double &beta, vpArray2D<double> &D)
 {
-  for (unsigned int r = 0; r < Arows; ++r)
+  for (unsigned int r = 0; r < Arows; ++r) {
     for (unsigned int c = 0; c < Bcols; ++c) {
       double sum = 0;
-      for (unsigned int n = 0; n < Brows; ++n)
+      for (unsigned int n = 0; n < Brows; ++n) {
         sum += A[n][r] * B[c][n] * alpha;
-      D[r][c] = sum + C[c][r] * beta;
+      }
+      D[r][c] = sum + (C[c][r] * beta);
     }
+  }
 }
 
 template <unsigned int T>
@@ -327,8 +351,9 @@ inline void vpTGEMM(const vpArray2D<double> &A, const vpArray2D<double> &B, cons
   GEMMsize<T>(A, B, Arows, Acols, Brows, Bcols);
 
   try {
-    if ((Arows != D.getRows()) || (Bcols != D.getCols()))
+    if ((Arows != D.getRows()) || (Bcols != D.getCols())) {
       D.resize(Arows, Bcols);
+    }
   }
   catch (...) {
     throw;
diff --git a/modules/core/include/visp3/core/vpGaussianFilter.h b/modules/core/include/visp3/core/vpGaussianFilter.h
index a35f8e8f9b..53135dff50 100644
--- a/modules/core/include/visp3/core/vpGaussianFilter.h
+++ b/modules/core/include/visp3/core/vpGaussianFilter.h
@@ -62,7 +62,7 @@ class VISP_EXPORT vpGaussianFilter
   virtual ~vpGaussianFilter();
 
 private:
-  vpGaussianFilter(const vpGaussianFilter &);
+  vpGaussianFilter(const vpGaussianFilter &gf);
   vpGaussianFilter &operator=(const vpGaussianFilter &);
 
   // PIMPL idiom
diff --git a/modules/core/include/visp3/core/vpHomogeneousMatrix.h b/modules/core/include/visp3/core/vpHomogeneousMatrix.h
index 93048abda0..cbc386d158 100644
--- a/modules/core/include/visp3/core/vpHomogeneousMatrix.h
+++ b/modules/core/include/visp3/core/vpHomogeneousMatrix.h
@@ -54,7 +54,6 @@ class vpPoint;
 #include <visp3/core/vpArray2D.h>
 #include <visp3/core/vpRotationMatrix.h>
 #include <visp3/core/vpThetaUVector.h>
-//#include <visp3/core/vpTranslationVector.h>
 #include <visp3/core/vpPoseVector.h>
 
 #ifdef VISP_HAVE_NLOHMANN_JSON
@@ -208,7 +207,7 @@ class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
   explicit vpHomogeneousMatrix(const std::vector<double> &v);
   vpHomogeneousMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpHomogeneousMatrix(const std::initializer_list<double> &list);
+  explicit vpHomogeneousMatrix(const std::initializer_list<double> &list);
 #endif
 
   void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
diff --git a/modules/core/include/visp3/core/vpImage.h b/modules/core/include/visp3/core/vpImage.h
index 606992c43c..a3158ec9d9 100644
--- a/modules/core/include/visp3/core/vpImage.h
+++ b/modules/core/include/visp3/core/vpImage.h
@@ -142,10 +142,10 @@ template <class Type> class vpImage
   //! constructor
   vpImage();
   //! copy constructor
-  vpImage(const vpImage<Type> &);
+  vpImage(const vpImage<Type> &img);
 #if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
   //! move constructor
-  vpImage(vpImage<Type> &&);
+  vpImage(vpImage<Type> &&img);
 #endif
   //! constructor  set the size of the image
   vpImage(unsigned int height, unsigned int width);
@@ -292,10 +292,10 @@ template <class Type> class vpImage
   */
   inline Type operator()(const vpImagePoint &ip) const
   {
-    unsigned int i = (unsigned int)ip.get_i();
-    unsigned int j = (unsigned int)ip.get_j();
+    unsigned int i = static_cast<unsigned int>(ip.get_i());
+    unsigned int j = static_cast<unsigned int>(ip.get_j());
 
-    return bitmap[i * width + j];
+    return bitmap[(i * width) + j];
   }
 
   /*!
@@ -308,10 +308,10 @@ template <class Type> class vpImage
   */
   inline void operator()(const vpImagePoint &ip, const Type &v)
   {
-    unsigned int i = (unsigned int)ip.get_i();
-    unsigned int j = (unsigned int)ip.get_j();
+    unsigned int i = static_cast<unsigned int>(ip.get_i());
+    unsigned int j = static_cast<unsigned int>(ip.get_j());
 
-    bitmap[i * width + j] = v;
+    bitmap[(i * width) + j] = v;
   }
 
   vpImage<Type> operator-(const vpImage<Type> &B) const;
@@ -361,16 +361,18 @@ template <class Type> std::ostream &operator<<(std::ostream &s, const vpImage<Ty
     return s;
   }
 
-  for (unsigned int i = 0; i < I.getHeight(); ++i) {
-    for (unsigned int j = 0; j < I.getWidth() - 1; ++j) {
+  unsigned int i_height = I.getHeight();
+  unsigned int i_width = I.getWidth();
+  for (unsigned int i = 0; i < i_height; ++i) {
+    for (unsigned int j = 0; j < (i_width - 1); ++j) {
       s << I[i][j] << " ";
     }
 
     // We don't add "  " after the last column element
-    s << I[i][I.getWidth() - 1];
+    s << I[i][i_width - 1];
 
     // We don't add a \n character at the end of the last row line
-    if (i < I.getHeight() - 1) {
+    if (i < (i_height - 1)) {
       s << std::endl;
     }
   }
@@ -386,8 +388,10 @@ inline std::ostream &operator<<(std::ostream &s, const vpImage<unsigned char> &I
 
   std::ios_base::fmtflags original_flags = s.flags();
 
-  for (unsigned int i = 0; i < I.getHeight(); ++i) {
-    for (unsigned int j = 0; j < I.getWidth() - 1; ++j) {
+  unsigned int i_height = I.getHeight();
+  unsigned int i_width = I.getWidth();
+  for (unsigned int i = 0; i < i_height; ++i) {
+    for (unsigned int j = 0; j < (i_width - 1); ++j) {
       s << std::setw(3) << static_cast<unsigned>(I[i][j]) << " ";
     }
 
@@ -395,7 +399,7 @@ inline std::ostream &operator<<(std::ostream &s, const vpImage<unsigned char> &I
     s << std::setw(3) << static_cast<unsigned>(I[i][I.getWidth() - 1]);
 
     // We don't add a \n character at the end of the last row line
-    if (i < I.getHeight() - 1) {
+    if (i < (i_height - 1)) {
       s << std::endl;
     }
   }
@@ -412,16 +416,18 @@ inline std::ostream &operator<<(std::ostream &s, const vpImage<char> &I)
 
   std::ios_base::fmtflags original_flags = s.flags();
 
-  for (unsigned int i = 0; i < I.getHeight(); ++i) {
-    for (unsigned int j = 0; j < I.getWidth() - 1; ++j) {
+  unsigned int i_height = I.getHeight();
+  unsigned int i_width = I.getWidth();
+  for (unsigned int i = 0; i < i_height; ++i) {
+    for (unsigned int j = 0; j < (i_width - 1); ++j) {
       s << std::setw(4) << static_cast<int>(I[i][j]) << " ";
     }
 
     // We don't add "  " after the last column element
-    s << std::setw(4) << static_cast<int>(I[i][I.getWidth() - 1]);
+    s << std::setw(4) << static_cast<int>(I[i][i_width - 1]);
 
     // We don't add a \n character at the end of the last row line
-    if (i < I.getHeight() - 1) {
+    if (i < (i_height - 1)) {
       s << std::endl;
     }
   }
@@ -439,16 +445,18 @@ inline std::ostream &operator<<(std::ostream &s, const vpImage<float> &I)
   std::ios_base::fmtflags original_flags = s.flags();
   s.precision(9); // http://en.cppreference.com/w/cpp/types/numeric_limits/max_digits10
 
-  for (unsigned int i = 0; i < I.getHeight(); ++i) {
-    for (unsigned int j = 0; j < I.getWidth() - 1; ++j) {
+  unsigned int i_height = I.getHeight();
+  unsigned int i_width = I.getWidth();
+  for (unsigned int i = 0; i < i_height; ++i) {
+    for (unsigned int j = 0; j < (i_width - 1); ++j) {
       s << I[i][j] << " ";
     }
 
     // We don't add "  " after the last column element
-    s << I[i][I.getWidth() - 1];
+    s << I[i][i_width - 1];
 
     // We don't add a \n character at the end of the last row line
-    if (i < I.getHeight() - 1) {
+    if (i < (i_height - 1)) {
       s << std::endl;
     }
   }
@@ -466,16 +474,18 @@ inline std::ostream &operator<<(std::ostream &s, const vpImage<double> &I)
   std::ios_base::fmtflags original_flags = s.flags();
   s.precision(17); // http://en.cppreference.com/w/cpp/types/numeric_limits/max_digits10
 
-  for (unsigned int i = 0; i < I.getHeight(); ++i) {
-    for (unsigned int j = 0; j < I.getWidth() - 1; ++j) {
+  unsigned int i_height = I.getHeight();
+  unsigned int i_width = I.getWidth();
+  for (unsigned int i = 0; i < i_height; ++i) {
+    for (unsigned int j = 0; j < (i_width - 1); ++j) {
       s << I[i][j] << " ";
     }
 
     // We don't add "  " after the last column element
-    s << I[i][I.getWidth() - 1];
+    s << I[i][i_width - 1];
 
     // We don't add a \n character at the end of the last row line
-    if (i < I.getHeight() - 1) {
+    if (i < (i_height - 1)) {
       s << std::endl;
     }
   }
@@ -619,9 +629,10 @@ void performLutRGBaThread(vpImageLutRGBa_Param_t *imageLut_param)
 template <class Type> void vpImage<Type>::init(unsigned int h, unsigned int w, Type value)
 {
   init(h, w);
-
+  /*
   //  for (unsigned int i = 0; i < npixels; ++i)
   //    bitmap[i] = value;
+  */
   std::fill(bitmap, bitmap + npixels, value);
 }
 
@@ -658,14 +669,16 @@ template <class Type> void vpImage<Type>::init(unsigned int h, unsigned int w)
   if (bitmap == nullptr) {
     throw(vpException(vpException::memoryAllocationError, "cannot allocate bitmap "));
   }
-  if (row == nullptr)
+  if (row == nullptr) {
     row = new Type *[height];
+  }
   if (row == nullptr) {
     throw(vpException(vpException::memoryAllocationError, "cannot allocate row "));
   }
 
-  for (unsigned int i = 0; i < height; ++i)
-    row[i] = bitmap + i * width;
+  for (unsigned int i = 0; i < height; ++i) {
+    row[i] = bitmap + (i * width);
+  }
 }
 
 /*!
@@ -681,7 +694,7 @@ template <class Type> void vpImage<Type>::init(Type *const array, unsigned int h
   }
 
   // Delete bitmap if copyData==false, otherwise only if the dimension differs
-  if ((copyData && ((h != this->height) || (w != this->width))) || !copyData) {
+  if ((copyData && ((h != this->height) || (w != this->width))) || (!copyData)) {
     if (bitmap != nullptr) {
       if (hasOwnership) {
         delete[] bitmap;
@@ -697,29 +710,31 @@ template <class Type> void vpImage<Type>::init(Type *const array, unsigned int h
   npixels = width * height;
 
   if (copyData) {
-    if (bitmap == nullptr)
+    if (bitmap == nullptr) {
       bitmap = new Type[npixels];
+    }
 
     if (bitmap == nullptr) {
       throw(vpException(vpException::memoryAllocationError, "cannot allocate bitmap "));
     }
 
     // Copy the image data
-    memcpy(static_cast<void *>(bitmap), static_cast<void *>(array), (size_t)(npixels * sizeof(Type)));
+    memcpy(static_cast<void *>(bitmap), static_cast<void *>(array), static_cast<size_t>(npixels * sizeof(Type)));
   }
   else {
     // Copy the address of the array in the bitmap
     bitmap = array;
   }
 
-  if (row == nullptr)
+  if (row == nullptr) {
     row = new Type *[height];
+  }
   if (row == nullptr) {
     throw(vpException(vpException::memoryAllocationError, "cannot allocate row "));
   }
 
   for (unsigned int i = 0; i < height; ++i) {
-    row[i] = bitmap + i * width;
+    row[i] = bitmap + (i * width);
   }
 }
 
@@ -873,8 +888,9 @@ vpImage<Type>::vpImage(vpImage<Type> &&I)
  */
 template <class Type> Type vpImage<Type>::getMaxValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute maximum value of an empty image"));
+  }
   Type m = bitmap[0];
   for (unsigned int i = 0; i < npixels; ++i) {
     if (bitmap[i] > m) {
@@ -895,19 +911,22 @@ template <class Type> Type vpImage<Type>::getMaxValue(bool onlyFiniteVal) const
  */
 template <> inline double vpImage<double>::getMaxValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute maximum value of an empty image"));
+  }
   double m = bitmap[0];
   if (onlyFiniteVal) {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] > m && vpMath::isFinite(bitmap[i]))
+      if ((bitmap[i] > m) && (vpMath::isFinite(bitmap[i]))) {
         m = bitmap[i];
+      }
     }
   }
   else {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] > m)
+      if (bitmap[i] > m) {
         m = bitmap[i];
+      }
     }
   }
   return m;
@@ -923,19 +942,22 @@ template <> inline double vpImage<double>::getMaxValue(bool onlyFiniteVal) const
  */
 template <> inline float vpImage<float>::getMaxValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute maximum value of an empty image"));
+  }
   float m = bitmap[0];
   if (onlyFiniteVal) {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] > m && vpMath::isFinite(bitmap[i]))
+      if ((bitmap[i] > m) && (vpMath::isFinite(bitmap[i]))) {
         m = bitmap[i];
+      }
     }
   }
   else {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] > m)
+      if (bitmap[i] > m) {
         m = bitmap[i];
+      }
     }
   }
   return m;
@@ -1015,7 +1037,7 @@ template <class Type> double vpImage<Type>::getStdev(const double &mean, const v
   double sum = 0.;
   unsigned int nbPointsInMask = 0;
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute standard deviation: image and mask size differ"));
     }
     for (unsigned int i = 0; i < size; ++i) {
@@ -1066,7 +1088,7 @@ template <> inline double vpImage<vpRGBa>::getStdev(const double &mean, const vp
   double sum = 0.;
   unsigned int nbPointsInMask = 0;
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute standard deviation: image and mask size differ"));
     }
     for (unsigned int i = 0; i < size; ++i) {
@@ -1118,7 +1140,7 @@ template <> inline double vpImage<vpRGBf>::getStdev(const double &mean, const vp
   double sum = 0.;
   unsigned int nbPointsInMask = 0;
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute standard deviation: image and mask size differ"));
     }
     for (unsigned int i = 0; i < size; ++i) {
@@ -1153,8 +1175,9 @@ template <> inline double vpImage<vpRGBf>::getStdev(const double &mean, const vp
  */
 template <class Type> Type vpImage<Type>::getMinValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute minimum value of an empty image"));
+  }
   Type m = bitmap[0];
   for (unsigned int i = 0; i < npixels; ++i) {
     if (bitmap[i] < m) {
@@ -1175,18 +1198,23 @@ template <class Type> Type vpImage<Type>::getMinValue(bool onlyFiniteVal) const
  */
 template <> inline double vpImage<double>::getMinValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute minimum value of an empty image"));
+  }
   double m = bitmap[0];
   if (onlyFiniteVal) {
-    for (unsigned int i = 0; i < npixels; ++i)
-      if (bitmap[i] < m && vpMath::isFinite(bitmap[i]))
+    for (unsigned int i = 0; i < npixels; ++i) {
+      if ((bitmap[i] < m) && (vpMath::isFinite(bitmap[i]))) {
         m = bitmap[i];
+      }
+    }
   }
   else {
-    for (unsigned int i = 0; i < npixels; ++i)
-      if (bitmap[i] < m)
+    for (unsigned int i = 0; i < npixels; ++i) {
+      if (bitmap[i] < m) {
         m = bitmap[i];
+      }
+    }
   }
   return m;
 }
@@ -1201,18 +1229,23 @@ template <> inline double vpImage<double>::getMinValue(bool onlyFiniteVal) const
  */
 template <> inline float vpImage<float>::getMinValue(bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot compute minimum value of an empty image"));
+  }
   float m = bitmap[0];
   if (onlyFiniteVal) {
-    for (unsigned int i = 0; i < npixels; ++i)
-      if (bitmap[i] < m && vpMath::isFinite(bitmap[i]))
+    for (unsigned int i = 0; i < npixels; ++i) {
+      if ((bitmap[i] < m) && (vpMath::isFinite(bitmap[i]))) {
         m = bitmap[i];
+      }
+    }
   }
   else {
-    for (unsigned int i = 0; i < npixels; ++i)
-      if (bitmap[i] < m)
+    for (unsigned int i = 0; i < npixels; ++i) {
+      if (bitmap[i] < m) {
         m = bitmap[i];
+      }
+    }
   }
   return m;
 }
@@ -1229,15 +1262,19 @@ template <> inline float vpImage<float>::getMinValue(bool onlyFiniteVal) const
  */
 template <class Type> void vpImage<Type>::getMinMaxValue(Type &min, Type &max, bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot get minimum/maximum values of an empty image"));
+  }
 
-  min = max = bitmap[0];
+  min = bitmap[0];
+  max = bitmap[0];
   for (unsigned int i = 0; i < npixels; ++i) {
-    if (bitmap[i] < min)
+    if (bitmap[i] < min) {
       min = bitmap[i];
-    if (bitmap[i] > max)
+    }
+    if (bitmap[i] > max) {
       max = bitmap[i];
+    }
   }
   (void)onlyFiniteVal;
 }
@@ -1255,26 +1292,32 @@ template <class Type> void vpImage<Type>::getMinMaxValue(Type &min, Type &max, b
  */
 template <> inline void vpImage<double>::getMinMaxValue(double &min, double &max, bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot get minimum/maximum values of an empty image"));
+  }
 
-  min = max = bitmap[0];
+  min = bitmap[0];
+  max = bitmap[0];
   if (onlyFiniteVal) {
     for (unsigned int i = 0; i < npixels; ++i) {
       if (vpMath::isFinite(bitmap[i])) {
-        if (bitmap[i] < min)
+        if (bitmap[i] < min) {
           min = bitmap[i];
-        if (bitmap[i] > max)
+        }
+        if (bitmap[i] > max) {
           max = bitmap[i];
+        }
       }
     }
   }
   else {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] < min)
+      if (bitmap[i] < min) {
         min = bitmap[i];
-      if (bitmap[i] > max)
+      }
+      if (bitmap[i] > max) {
         max = bitmap[i];
+      }
     }
   }
 }
@@ -1292,26 +1335,32 @@ template <> inline void vpImage<double>::getMinMaxValue(double &min, double &max
  */
 template <> inline void vpImage<float>::getMinMaxValue(float &min, float &max, bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot get minimum/maximum values of an empty image"));
+  }
 
-  min = max = bitmap[0];
+  min = bitmap[0];
+  max = bitmap[0];
   if (onlyFiniteVal) {
     for (unsigned int i = 0; i < npixels; ++i) {
       if (vpMath::isFinite(bitmap[i])) {
-        if (bitmap[i] < min)
+        if (bitmap[i] < min) {
           min = bitmap[i];
-        if (bitmap[i] > max)
+        }
+        if (bitmap[i] > max) {
           max = bitmap[i];
+        }
       }
     }
   }
   else {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i] < min)
+      if (bitmap[i] < min) {
         min = bitmap[i];
-      if (bitmap[i] > max)
+      }
+      if (bitmap[i] > max) {
         max = bitmap[i];
+      }
     }
   }
 }
@@ -1328,48 +1377,62 @@ template <> inline void vpImage<float>::getMinMaxValue(float &min, float &max, b
 */
 template <> inline void vpImage<vpRGBf>::getMinMaxValue(vpRGBf &min, vpRGBf &max, bool onlyFiniteVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot get minimum/maximum values of an empty image"));
+  }
 
-  min = max = bitmap[0];
+  min = bitmap[0];
+  max = bitmap[0];
   if (onlyFiniteVal) {
     for (unsigned int i = 0; i < npixels; ++i) {
       if (vpMath::isFinite(bitmap[i].R)) {
-        if (bitmap[i].R < min.R)
+        if (bitmap[i].R < min.R) {
           min.R = bitmap[i].R;
-        if (bitmap[i].R > max.R)
+        }
+        if (bitmap[i].R > max.R) {
           max.R = bitmap[i].R;
+        }
       }
       if (vpMath::isFinite(bitmap[i].G)) {
-        if (bitmap[i].G < min.G)
+        if (bitmap[i].G < min.G) {
           min.G = bitmap[i].G;
-        if (bitmap[i].G > max.G)
+        }
+        if (bitmap[i].G > max.G) {
           max.G = bitmap[i].G;
+        }
       }
       if (vpMath::isFinite(bitmap[i].B)) {
-        if (bitmap[i].B < min.B)
+        if (bitmap[i].B < min.B) {
           min.B = bitmap[i].B;
-        if (bitmap[i].B > max.B)
+        }
+        if (bitmap[i].B > max.B) {
           max.B = bitmap[i].B;
+        }
       }
     }
   }
   else {
     for (unsigned int i = 0; i < npixels; ++i) {
-      if (bitmap[i].R < min.R)
+      if (bitmap[i].R < min.R) {
         min.R = bitmap[i].R;
-      if (bitmap[i].R > max.R)
+      }
+      if (bitmap[i].R > max.R) {
         max.R = bitmap[i].R;
+      }
 
-      if (bitmap[i].G < min.G)
+      if (bitmap[i].G < min.G) {
         min.G = bitmap[i].G;
-      if (bitmap[i].G > max.G)
+      }
+      if (bitmap[i].G > max.G) {
         max.G = bitmap[i].G;
+      }
 
-      if (bitmap[i].B < min.B)
+      if (bitmap[i].B < min.B) {
         min.B = bitmap[i].B;
-      if (bitmap[i].B > max.B)
+      }
+      if (bitmap[i].B > max.B) {
         max.B = bitmap[i].B;
+      }
     }
   }
 }
@@ -1398,9 +1461,10 @@ template <> inline void vpImage<vpRGBf>::getMinMaxValue(vpRGBf &min, vpRGBf &max
 template <class Type>
 void vpImage<Type>::getMinMaxLoc(vpImagePoint *minLoc, vpImagePoint *maxLoc, Type *minVal, Type *maxVal) const
 {
-  if (npixels == 0)
+  if (npixels == 0) {
     throw(vpException(vpException::fatalError, "Cannot get location of minimum/maximum "
                       "values of an empty image"));
+  }
 
   Type min = bitmap[0], max = bitmap[0];
   vpImagePoint minLoc_, maxLoc_;
@@ -1418,17 +1482,21 @@ void vpImage<Type>::getMinMaxLoc(vpImagePoint *minLoc, vpImagePoint *maxLoc, Typ
     }
   }
 
-  if (minLoc != nullptr)
+  if (minLoc != nullptr) {
     *minLoc = minLoc_;
+  }
 
-  if (maxLoc != nullptr)
+  if (maxLoc != nullptr) {
     *maxLoc = maxLoc_;
+  }
 
-  if (minVal != nullptr)
+  if (minVal != nullptr) {
     *minVal = min;
+  }
 
-  if (maxVal != nullptr)
+  if (maxVal != nullptr) {
     *maxVal = max;
+  }
 }
 
 /*!
@@ -1437,8 +1505,9 @@ void vpImage<Type>::getMinMaxLoc(vpImagePoint *minLoc, vpImagePoint *maxLoc, Typ
 template <class Type> vpImage<Type> &vpImage<Type>::operator=(vpImage<Type> other)
 {
   swap(*this, other);
-  if (other.display != nullptr)
+  if (other.display != nullptr) {
     display = other.display;
+  }
 
   return *this;
 }
@@ -1451,8 +1520,9 @@ template <class Type> vpImage<Type> &vpImage<Type>::operator=(vpImage<Type> othe
 */
 template <class Type> vpImage<Type> &vpImage<Type>::operator=(const Type &v)
 {
-  for (unsigned int i = 0; i < npixels; ++i)
+  for (unsigned int i = 0; i < npixels; ++i) {
     bitmap[i] = v;
+  }
 
   return *this;
 }
@@ -1464,17 +1534,23 @@ template <class Type> vpImage<Type> &vpImage<Type>::operator=(const Type &v)
 */
 template <class Type> bool vpImage<Type>::operator==(const vpImage<Type> &I) const
 {
-  if (this->width != I.getWidth())
+  if (this->width != I.getWidth()) {
     return false;
-  if (this->height != I.getHeight())
+  }
+  if (this->height != I.getHeight()) {
     return false;
+  }
 
+  /*
   //  printf("wxh: %dx%d bitmap: %p I.bitmap %p\n", width, height, bitmap,
   //  I.bitmap);
+  */
   for (unsigned int i = 0; i < npixels; ++i) {
     if (bitmap[i] != I.bitmap[i]) {
+      /*
       //      std::cout << "differ for pixel " << i << " (" << i%this->height
       //      << ", " << i - i%this->height << ")" << std::endl;
+      */
       return false;
     }
   }
@@ -1532,48 +1608,57 @@ template <class Type> vpImage<Type> vpImage<Type>::operator-(const vpImage<Type>
 */
 template <class Type> void vpImage<Type>::insert(const vpImage<Type> &src, const vpImagePoint &topLeft)
 {
-  int itl = (int)topLeft.get_i();
-  int jtl = (int)topLeft.get_j();
+  int itl = static_cast<int>(topLeft.get_i());
+  int jtl = static_cast<int>(topLeft.get_j());
 
   int dest_ibegin = 0;
   int dest_jbegin = 0;
   int src_ibegin = 0;
   int src_jbegin = 0;
-  int dest_w = (int)this->getWidth();
-  int dest_h = (int)this->getHeight();
-  int src_w = (int)src.getWidth();
-  int src_h = (int)src.getHeight();
-  int wsize = (int)src.getWidth();
-  int hsize = (int)src.getHeight();
-
-  if (itl >= dest_h || jtl >= dest_w)
+  int dest_w = static_cast<int>(this->getWidth());
+  int dest_h = static_cast<int>(this->getHeight());
+  int src_w = static_cast<int>(src.getWidth());
+  int src_h = static_cast<int>(src.getHeight());
+  int wsize = static_cast<int>(src.getWidth());
+  int hsize = static_cast<int>(src.getHeight());
+
+  if ((itl >= dest_h) || (jtl >= dest_w)) {
     return;
+  }
 
-  if (itl < 0)
+  if (itl < 0) {
     src_ibegin = -itl;
-  else
+  }
+  else {
     dest_ibegin = itl;
+  }
 
-  if (jtl < 0)
+  if (jtl < 0) {
     src_jbegin = -jtl;
-  else
+  }
+  else {
     dest_jbegin = jtl;
+  }
 
-  if (src_w - src_jbegin > dest_w - dest_jbegin)
+  if ((src_w - src_jbegin) >(dest_w - dest_jbegin)) {
     wsize = dest_w - dest_jbegin;
-  else
+  }
+  else {
     wsize = src_w - src_jbegin;
+  }
 
-  if (src_h - src_ibegin > dest_h - dest_ibegin)
+  if ((src_h - src_ibegin) > (dest_h - dest_ibegin)) {
     hsize = dest_h - dest_ibegin;
-  else
+  }
+  else {
     hsize = src_h - src_ibegin;
+  }
 
   for (int i = 0; i < hsize; ++i) {
-    Type *srcBitmap = src.bitmap + ((src_ibegin + i) * src_w + src_jbegin);
-    Type *destBitmap = this->bitmap + ((dest_ibegin + i) * dest_w + dest_jbegin);
+    Type *srcBitmap = src.bitmap + (((src_ibegin + i) * src_w) + src_jbegin);
+    Type *destBitmap = this->bitmap + (((dest_ibegin + i) * dest_w) + dest_jbegin);
 
-    memcpy(static_cast<void *>(destBitmap), static_cast<void *>(srcBitmap), (size_t)wsize * sizeof(Type));
+    memcpy(static_cast<void *>(destBitmap), static_cast<void *>(srcBitmap), static_cast<size_t>(wsize) * sizeof(Type));
   }
 }
 
@@ -1612,9 +1697,11 @@ template <class Type> void vpImage<Type>::halfSizeImage(vpImage<Type> &res) cons
   unsigned int h = height / 2;
   unsigned int w = width / 2;
   res.resize(h, w);
-  for (unsigned int i = 0; i < h; ++i)
-    for (unsigned int j = 0; j < w; ++j)
+  for (unsigned int i = 0; i < h; ++i) {
+    for (unsigned int j = 0; j < w; ++j) {
       res[i][j] = (*this)[i << 1][j << 1];
+    }
+  }
 }
 
 /*!
@@ -1637,16 +1724,18 @@ template <class Type> void vpImage<Type>::halfSizeImage(vpImage<Type> &res) cons
 template <class Type>
 void vpImage<Type>::subsample(unsigned int v_scale, unsigned int h_scale, vpImage<Type> &sampled) const
 {
-  if (v_scale == 1 && h_scale == 1) {
+  if ((v_scale == 1) && (h_scale == 1)) {
     sampled = (*this);
     return;
   }
   unsigned int h = height / v_scale;
   unsigned int w = width / h_scale;
   sampled.resize(h, w);
-  for (unsigned int i = 0; i < h; ++i)
-    for (unsigned int j = 0; j < w; ++j)
+  for (unsigned int i = 0; i < h; ++i) {
+    for (unsigned int j = 0; j < w; ++j) {
       sampled[i][j] = (*this)[i * v_scale][j * h_scale];
+    }
+  }
 }
 
 /*!
@@ -1676,9 +1765,11 @@ template <class Type> void vpImage<Type>::quarterSizeImage(vpImage<Type> &res) c
   unsigned int h = height / 4;
   unsigned int w = width / 4;
   res.resize(h, w);
-  for (unsigned int i = 0; i < h; ++i)
-    for (unsigned int j = 0; j < w; ++j)
+  for (unsigned int i = 0; i < h; ++i) {
+    for (unsigned int j = 0; j < w; ++j) {
       res[i][j] = (*this)[i << 2][j << 2];
+    }
+  }
 }
 
 /*!
@@ -1720,9 +1811,11 @@ template <class Type> void vpImage<Type>::doubleSizeImage(vpImage<Type> &res)
 
   res.resize(h, w);
 
-  for (int i = 0; i < h; ++i)
-    for (int j = 0; j < w; ++j)
+  for (int i = 0; i < h; ++i) {
+    for (int j = 0; j < w; ++j) {
       res[i][j] = (*this)[i >> 1][j >> 1];
+    }
+  }
 
   /*
     A B C
@@ -1733,20 +1826,26 @@ template <class Type> void vpImage<Type>::doubleSizeImage(vpImage<Type> &res)
   */
 
   // interpolate pixels B and I
-  for (int i = 0; i < h; i += 2)
-    for (int j = 1; j < w - 1; j += 2)
+  for (int i = 0; i < h; i += 2) {
+    for (int j = 1; j < (w - 1); j += 2) {
       res[i][j] = (Type)(0.5 * ((*this)[i >> 1][j >> 1] + (*this)[i >> 1][(j >> 1) + 1]));
+    }
+  }
 
   // interpolate pixels E and G
-  for (int i = 1; i < h - 1; i += 2)
-    for (int j = 0; j < w; j += 2)
+  for (int i = 1; i < (h - 1); i += 2) {
+    for (int j = 0; j < w; j += 2) {
       res[i][j] = (Type)(0.5 * ((*this)[i >> 1][j >> 1] + (*this)[(i >> 1) + 1][j >> 1]));
+    }
+  }
 
   // interpolate pixel F
-  for (int i = 1; i < h - 1; i += 2)
-    for (int j = 1; j < w - 1; j += 2)
+  for (int i = 1; i < (h - 1); i += 2) {
+    for (int j = 1; j < (w - 1); j += 2) {
       res[i][j] = (Type)(0.25 * ((*this)[i >> 1][j >> 1] + (*this)[i >> 1][(j >> 1) + 1] +
                                  (*this)[(i >> 1) + 1][j >> 1] + (*this)[(i >> 1) + 1][(j >> 1) + 1]));
+    }
+  }
 }
 
 /*!
@@ -1763,7 +1862,7 @@ template <class Type> void vpImage<Type>::doubleSizeImage(vpImage<Type> &res)
 */
 template <class Type> inline Type vpImage<Type>::getValue(unsigned int i, unsigned int j) const
 {
-  if (i >= height || j >= width) {
+  if ((i >= height) || (j >= width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside the image"));
   }
 
@@ -1788,10 +1887,10 @@ template <class Type> inline Type vpImage<Type>::getValue(unsigned int i, unsign
 */
 template <class Type> Type vpImage<Type>::getValue(double i, double j) const
 {
-  if (i < 0 || j < 0 || i + 1 > height || j + 1 > width) {
+  if ((i < 0) || (j < 0) || ((i + 1) > height) || ((j + 1) > width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside of the image"));
   }
-  if (height * width == 0) {
+  if ((height * width) == 0) {
     throw vpException(vpImageException::notInitializedError, "Empty image!");
   }
 
@@ -1808,9 +1907,9 @@ template <class Type> Type vpImage<Type>::getValue(double i, double j) const
   unsigned int jround_1 = std::min<unsigned int>(width - 1, jround + 1);
 
   double value =
-    (static_cast<double>(row[iround][jround]) * rfrac + static_cast<double>(row[iround_1][jround]) * rratio) * cfrac +
-    (static_cast<double>(row[iround][jround_1]) * rfrac + static_cast<double>(row[iround_1][jround_1]) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround]) * rfrac) + (static_cast<double>(row[iround_1][jround]) * rratio)) * cfrac) +
+    (((static_cast<double>(row[iround][jround_1]) * rfrac) + (static_cast<double>(row[iround_1][jround_1]) * rratio)) *
+    cratio);
 
   return static_cast<Type>(vpMath::round(value));
 }
@@ -1820,10 +1919,10 @@ template <class Type> Type vpImage<Type>::getValue(double i, double j) const
 */
 template <> inline double vpImage<double>::getValue(double i, double j) const
 {
-  if (i < 0 || j < 0 || i + 1 > height || j + 1 > width) {
+  if ((i < 0) || (j < 0) || ((i + 1) > height) || ((j + 1) > width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside of the image"));
   }
-  if (height * width == 0) {
+  if ((height * width) == 0) {
     throw vpException(vpImageException::notInitializedError, "Empty image!");
   }
 
@@ -1839,8 +1938,8 @@ template <> inline double vpImage<double>::getValue(double i, double j) const
   unsigned int iround_1 = std::min<unsigned int>(height - 1, iround + 1);
   unsigned int jround_1 = std::min<unsigned int>(width - 1, jround + 1);
 
-  return (row[iround][jround] * rfrac + row[iround_1][jround] * rratio) * cfrac +
-    (row[iround][jround_1] * rfrac + row[iround_1][jround_1] * rratio) * cratio;
+  return (((row[iround][jround] * rfrac) + (row[iround_1][jround] * rratio)) * cfrac) +
+    (((row[iround][jround_1] * rfrac) + (row[iround_1][jround_1] * rratio)) * cratio);
 }
 
 /*!
@@ -1848,10 +1947,10 @@ template <> inline double vpImage<double>::getValue(double i, double j) const
  */
 template <> inline unsigned char vpImage<unsigned char>::getValue(double i, double j) const
 {
-  if (i < 0 || j < 0 || i + 1 > height || j + 1 > width) {
+  if ((i < 0) || (j < 0) || ((i + 1) > height) || ((j + 1) > width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside of the image"));
   }
-  if (height * width == 0) {
+  if ((height * width) == 0) {
     throw vpException(vpImageException::notInitializedError, "Empty image!");
   }
 
@@ -1874,7 +1973,7 @@ template <> inline unsigned char vpImage<unsigned char>::getValue(double i, doub
   int64_t x_ = x >> 16;
   int64_t y_ = y >> 16;
 
-  if (y_ + 1 < height && x_ + 1 < width) {
+  if (((y_ + 1) < height) && ((x_ + 1) < width)) {
     uint16_t up = vpEndian::reinterpret_cast_uchar_to_uint16_LE(bitmap + y_ * width + x_);
     uint16_t down = vpEndian::reinterpret_cast_uchar_to_uint16_LE(bitmap + (y_ + 1) * width + x_);
 
@@ -1882,10 +1981,10 @@ template <> inline unsigned char vpImage<unsigned char>::getValue(double i, doub
                                        ((up >> 8) * rfrac + (down >> 8) * rratio) * cratio) >>
                                       32);
   }
-  else if (y_ + 1 < height) {
+  else if ((y_ + 1) < height) {
     return static_cast<unsigned char>(((row[y_][x_] * rfrac + row[y_ + 1][x_] * rratio)) >> 16);
   }
-  else if (x_ + 1 < width) {
+  else if ((x_ + 1) < width) {
     uint16_t up = vpEndian::reinterpret_cast_uchar_to_uint16_LE(bitmap + y_ * width + x_);
     return static_cast<unsigned char>(((up & 0x00FF) * cfrac + (up >> 8) * cratio) >> 16);
   }
@@ -1923,10 +2022,10 @@ template <> inline unsigned char vpImage<unsigned char>::getValue(double i, doub
  */
 template <> inline vpRGBa vpImage<vpRGBa>::getValue(double i, double j) const
 {
-  if (i < 0 || j < 0 || i + 1 > height || j + 1 > width) {
+  if ((i < 0) || (j < 0) || ((i + 1) > height) || ((j + 1) > width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside of the image"));
   }
-  if (height * width == 0) {
+  if ((height * width) == 0) {
     throw vpException(vpImageException::notInitializedError, "Empty image!");
   }
 
@@ -1943,20 +2042,20 @@ template <> inline vpRGBa vpImage<vpRGBa>::getValue(double i, double j) const
   unsigned int jround_1 = std::min<unsigned int>(width - 1, jround + 1);
 
   double valueR =
-    (static_cast<double>(row[iround][jround].R) * rfrac + static_cast<double>(row[iround_1][jround].R) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].R) * rfrac + static_cast<double>(row[iround_1][jround_1].R) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].R) * rfrac) + (static_cast<double>(row[iround_1][jround].R) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].R) * rfrac) + (static_cast<double>(row[iround_1][jround_1].R) * rratio)) *
+    cratio);
   double valueG =
-    (static_cast<double>(row[iround][jround].G) * rfrac + static_cast<double>(row[iround_1][jround].G) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].G) * rfrac + static_cast<double>(row[iround_1][jround_1].G) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].G) * rfrac) + (static_cast<double>(row[iround_1][jround].G) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].G) * rfrac) + (static_cast<double>(row[iround_1][jround_1].G) * rratio)) *
+    cratio);
   double valueB =
-    (static_cast<double>(row[iround][jround].B) * rfrac + static_cast<double>(row[iround_1][jround].B) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].B) * rfrac + static_cast<double>(row[iround_1][jround_1].B) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].B) * rfrac) + (static_cast<double>(row[iround_1][jround].B) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].B) * rfrac) + (static_cast<double>(row[iround_1][jround_1].B) * rratio)) *
+    cratio);
 
   return vpRGBa(static_cast<unsigned char>(vpMath::round(valueR)), static_cast<unsigned char>(vpMath::round(valueG)),
                 static_cast<unsigned char>(vpMath::round(valueB)));
@@ -1967,10 +2066,10 @@ template <> inline vpRGBa vpImage<vpRGBa>::getValue(double i, double j) const
  */
 template <> inline vpRGBf vpImage<vpRGBf>::getValue(double i, double j) const
 {
-  if (i < 0 || j < 0 || i + 1 > height || j + 1 > width) {
+  if ((i < 0) || (j < 0) || ((i + 1) > height) || ((j + 1) > width)) {
     throw(vpException(vpImageException::notInTheImage, "Pixel outside of the image"));
   }
-  if (height * width == 0) {
+  if ((height * width) == 0) {
     throw vpException(vpImageException::notInitializedError, "Empty image!");
   }
 
@@ -1987,20 +2086,20 @@ template <> inline vpRGBf vpImage<vpRGBf>::getValue(double i, double j) const
   unsigned int jround_1 = std::min<unsigned int>(width - 1, jround + 1);
 
   double valueR =
-    (static_cast<double>(row[iround][jround].R) * rfrac + static_cast<double>(row[iround_1][jround].R) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].R) * rfrac + static_cast<double>(row[iround_1][jround_1].R) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].R) * rfrac) + (static_cast<double>(row[iround_1][jround].R) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].R) * rfrac) + (static_cast<double>(row[iround_1][jround_1].R) * rratio)) *
+    cratio);
   double valueG =
-    (static_cast<double>(row[iround][jround].G) * rfrac + static_cast<double>(row[iround_1][jround].G) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].G) * rfrac + static_cast<double>(row[iround_1][jround_1].G) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].G) * rfrac) + (static_cast<double>(row[iround_1][jround].G) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].G) * rfrac) + (static_cast<double>(row[iround_1][jround_1].G) * rratio)) *
+    cratio);
   double valueB =
-    (static_cast<double>(row[iround][jround].B) * rfrac + static_cast<double>(row[iround_1][jround].B) * rratio) *
-    cfrac +
-    (static_cast<double>(row[iround][jround_1].B) * rfrac + static_cast<double>(row[iround_1][jround_1].B) * rratio) *
-    cratio;
+    (((static_cast<double>(row[iround][jround].B) * rfrac) + (static_cast<double>(row[iround_1][jround].B) * rratio)) *
+    cfrac) +
+    (((static_cast<double>(row[iround][jround_1].B) * rfrac) + (static_cast<double>(row[iround_1][jround_1].B) * rratio)) *
+    cratio);
 
   return vpRGBf(static_cast<float>(valueR), static_cast<float>(valueG), static_cast<float>(valueB));
 }
@@ -2070,7 +2169,7 @@ template <class Type> inline double vpImage<Type>::getSum(const vpImage<bool> *p
     return 0.0;
   }
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute sum: image and mask size differ"));
     }
   }
@@ -2119,7 +2218,7 @@ template <> inline double vpImage<vpRGBa>::getSum(const vpImage<bool> *p_mask, u
   unsigned int nbPointsInMask = 0;
   unsigned int size = height * width;
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute sum: image and mask size differ"));
     }
     for (unsigned int i = 0; i < size; ++i) {
@@ -2130,7 +2229,7 @@ template <> inline double vpImage<vpRGBa>::getSum(const vpImage<bool> *p_mask, u
     }
   }
   else {
-    for (unsigned int i = 0; i < height * width; ++i) {
+    for (unsigned int i = 0; i < (height * width); ++i) {
       res += static_cast<double>(bitmap[i].R) + static_cast<double>(bitmap[i].G) + static_cast<double>(bitmap[i].B);
     }
     nbPointsInMask = size;
@@ -2161,7 +2260,7 @@ template <> inline double vpImage<vpRGBf>::getSum(const vpImage<bool> *p_mask, u
   unsigned int nbPointsInMask = 0;
   unsigned int size = height * width;
   if (p_mask) {
-    if (p_mask->getWidth() != width || p_mask->getHeight() != height) {
+    if ((p_mask->getWidth() != width) || (p_mask->getHeight() != height)) {
       throw(vpException(vpException::fatalError, "Cannot compute sum: image and mask size differ"));
     }
     for (unsigned int i = 0; i < size; ++i) {
@@ -2172,7 +2271,7 @@ template <> inline double vpImage<vpRGBf>::getSum(const vpImage<bool> *p_mask, u
     }
   }
   else {
-    for (unsigned int i = 0; i < height * width; ++i) {
+    for (unsigned int i = 0; i < (height * width); ++i) {
       res += static_cast<double>(bitmap[i].R) + static_cast<double>(bitmap[i].G) + static_cast<double>(bitmap[i].B);
     }
     nbPointsInMask = size;
@@ -2217,8 +2316,9 @@ template <class Type> void vpImage<Type>::sub(const vpImage<Type> &B, vpImage<Ty
 {
 
   try {
-    if ((this->getHeight() != C.getHeight()) || (this->getWidth() != C.getWidth()))
+    if ((this->getHeight() != C.getHeight()) || (this->getWidth() != C.getWidth())) {
       C.resize(this->getHeight(), this->getWidth());
+    }
   }
   catch (const vpException &me) {
     std::cout << me << std::endl;
@@ -2229,7 +2329,9 @@ template <class Type> void vpImage<Type>::sub(const vpImage<Type> &B, vpImage<Ty
     throw(vpException(vpException::memoryAllocationError, "vpImage mismatch in vpImage/vpImage subtraction"));
   }
 
-  for (unsigned int i = 0; i < this->getWidth() * this->getHeight(); ++i) {
+  unsigned int this_width = this->getWidth();
+  unsigned int this_height = this->getHeight();
+  for (unsigned int i = 0; i < (this_width * this_height); ++i) {
     *(C.bitmap + i) = *(bitmap + i) - *(B.bitmap + i);
   }
 }
@@ -2249,8 +2351,9 @@ template <class Type> void vpImage<Type>::sub(const vpImage<Type> &A, const vpIm
 {
 
   try {
-    if ((A.getHeight() != C.getHeight()) || (A.getWidth() != C.getWidth()))
+    if ((A.getHeight() != C.getHeight()) || (A.getWidth() != C.getWidth())) {
       C.resize(A.getHeight(), A.getWidth());
+    }
   }
   catch (const vpException &me) {
     std::cout << me << std::endl;
@@ -2261,7 +2364,9 @@ template <class Type> void vpImage<Type>::sub(const vpImage<Type> &A, const vpIm
     throw(vpException(vpException::memoryAllocationError, "vpImage mismatch in vpImage/vpImage subtraction "));
   }
 
-  for (unsigned int i = 0; i < A.getWidth() * A.getHeight(); ++i) {
+  unsigned int a_width = A.getWidth();
+  unsigned int a_height = A.getHeight();
+  for (unsigned int i = 0; i < (a_width * a_height); ++i) {
     *(C.bitmap + i) = *(A.bitmap + i) - *(B.bitmap + i);
   }
 }
@@ -2292,16 +2397,16 @@ template <class Type> void vpImage<Type>::performLut(const Type(&)[256], unsigne
 template <> inline void vpImage<unsigned char>::performLut(const unsigned char(&lut)[256], unsigned int nbThreads)
 {
   unsigned int size = getWidth() * getHeight();
-  unsigned char *ptrStart = (unsigned char *)bitmap;
+  unsigned char *ptrStart = static_cast<unsigned char *>(bitmap);
   unsigned char *ptrEnd = ptrStart + size;
   unsigned char *ptrCurrent = ptrStart;
 
-  bool use_single_thread = (nbThreads == 0 || nbThreads == 1);
+  bool use_single_thread = ((nbThreads == 0) || (nbThreads == 1));
 #if !defined(VISP_HAVE_THREADS)
   use_single_thread = true;
 #endif
 
-  if (!use_single_thread && getSize() <= nbThreads) {
+  if ((!use_single_thread) && (getSize() <= nbThreads)) {
     use_single_thread = true;
   }
 
@@ -2371,16 +2476,16 @@ template <> inline void vpImage<unsigned char>::performLut(const unsigned char(&
 template <> inline void vpImage<vpRGBa>::performLut(const vpRGBa(&lut)[256], unsigned int nbThreads)
 {
   unsigned int size = getWidth() * getHeight();
-  unsigned char *ptrStart = (unsigned char *)bitmap;
-  unsigned char *ptrEnd = ptrStart + size * 4;
+  unsigned char *ptrStart = reinterpret_cast<unsigned char *>(bitmap);
+  unsigned char *ptrEnd = ptrStart + (size * 4);
   unsigned char *ptrCurrent = ptrStart;
 
-  bool use_single_thread = (nbThreads == 0 || nbThreads == 1);
+  bool use_single_thread = ((nbThreads == 0) || (nbThreads == 1));
 #if !defined(VISP_HAVE_THREADS)
   use_single_thread = true;
 #endif
 
-  if (!use_single_thread && getSize() <= nbThreads) {
+  if ((!use_single_thread) && (getSize() <= nbThreads)) {
     use_single_thread = true;
   }
 
diff --git a/modules/core/include/visp3/core/vpImageConvert.h b/modules/core/include/visp3/core/vpImageConvert.h
index baa0ad5ff1..e5b3b02d36 100644
--- a/modules/core/include/visp3/core/vpImageConvert.h
+++ b/modules/core/include/visp3/core/vpImageConvert.h
@@ -192,9 +192,9 @@ class VISP_EXPORT vpImageConvert
     dg = dg > 255. ? 255. : dg;
     db = db > 255. ? 255. : db;
 
-    r = (unsigned char)dr;
-    g = (unsigned char)dg;
-    b = (unsigned char)db;
+    r = static_cast<unsigned char>(dr);
+    g = static_cast<unsigned char>(dg);
+    b = static_cast<unsigned char>(db);
   }
   static void YUYVToRGBa(unsigned char *yuyv, unsigned char *rgba, unsigned int width, unsigned int height);
   static void YUYVToRGB(unsigned char *yuyv, unsigned char *rgb, unsigned int width, unsigned int height);
diff --git a/modules/core/include/visp3/core/vpImageFilter.h b/modules/core/include/visp3/core/vpImageFilter.h
index 2c658e9ed6..4ed8c57ef7 100644
--- a/modules/core/include/visp3/core/vpImageFilter.h
+++ b/modules/core/include/visp3/core/vpImageFilter.h
@@ -441,7 +441,7 @@ class VISP_EXPORT vpImageFilter
       float tf = static_cast<float>(hist[i]);
       accu = accu + tf;
       if (accu > t) {
-        bon = (float)i;
+        bon = static_cast<float>(i);
         break;
       }
     }
@@ -459,8 +459,8 @@ class VISP_EXPORT vpImageFilter
    */
   template <class ImageType> static double derivativeFilterX(const vpImage<ImageType> &I, unsigned int r, unsigned int c)
   {
-    return (2047.0 * static_cast<double>(I[r][c + 1] - I[r][c - 1]) + 913.0 * static_cast<double>(I[r][c + 2] - I[r][c - 2]) +
-            112.0 * static_cast<double>(I[r][c + 3] - I[r][c - 3])) / 8418.0;
+    return ((2047.0 * static_cast<double>(I[r][c + 1] - I[r][c - 1])) + (913.0 * static_cast<double>(I[r][c + 2] - I[r][c - 2])) +
+            (112.0 * static_cast<double>(I[r][c + 3] - I[r][c - 3]))) / 8418.0;
   }
 
   /*!
@@ -472,8 +472,8 @@ class VISP_EXPORT vpImageFilter
    */
   template <class ImageType> static double derivativeFilterY(const vpImage<ImageType> &I, unsigned int r, unsigned int c)
   {
-    return (2047.0 * static_cast<double>(I[r + 1][c] - I[r - 1][c]) + 913.0 * static_cast<double>(I[r + 2][c] - I[r - 2][c]) +
-            112.0 * static_cast<double>(I[r + 3][c] - I[r - 3][c])) / 8418.0;
+    return ((2047.0 * static_cast<double>(I[r + 1][c] - I[r - 1][c])) + (913.0 * static_cast<double>(I[r + 2][c] - I[r - 2][c])) +
+            (112.0 * static_cast<double>(I[r + 3][c] - I[r - 3][c]))) / 8418.0;
   }
 
   /*!
@@ -584,7 +584,7 @@ class VISP_EXPORT vpImageFilter
 
             for (unsigned int a = 0; a < size_y; ++a) {
               for (unsigned int b = 0; b < size_x; ++b) {
-                FilterType val = static_cast<FilterType>(I[i + half_size_y - a][j + half_size_x - b]); // Convolution
+                FilterType val = static_cast<FilterType>(I[(i + half_size_y) - a][(j + half_size_x) - b]); // Convolution
                 conv += M[a][b] * val;
               }
             }
@@ -606,7 +606,7 @@ class VISP_EXPORT vpImageFilter
 
             for (unsigned int a = 0; a < size_y; ++a) {
               for (unsigned int b = 0; b < size_x; ++b) {
-                FilterType val = static_cast<FilterType>(I[i - half_size_y + a][j - half_size_x + b]); // Correlation
+                FilterType val = static_cast<FilterType>(I[(i - half_size_y) + a][(j - half_size_x) + b]); // Correlation
                 corr += M[a][b] * val;
               }
             }
@@ -663,7 +663,7 @@ class VISP_EXPORT vpImageFilter
 
             for (unsigned int a = 0; a < size; ++a) {
               for (unsigned int b = 0; b < size; ++b) {
-                FilterType val = static_cast<FilterType>(I[v + half_size - a][u + half_size - b]); // Convolution
+                FilterType val = static_cast<FilterType>(I[(v + half_size) - a][(u + half_size) - b]); // Convolution
                 conv_u += M[a][b] * val;
                 conv_v += M[b][a] * val;
               }
@@ -687,7 +687,7 @@ class VISP_EXPORT vpImageFilter
 
             for (unsigned int a = 0; a < size; ++a) {
               for (unsigned int b = 0; b < size; ++b) {
-                FilterType val = static_cast<FilterType>(I[v - half_size + a][u - half_size + b]); // Correlation
+                FilterType val = static_cast<FilterType>(I[(v - half_size) + a][(u - half_size) + b]); // Correlation
                 conv_u += M[a][b] * val;
                 conv_v += M[b][a] * val;
               }
@@ -736,11 +736,11 @@ class VISP_EXPORT vpImageFilter
 
   static inline unsigned char filterGaussXPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
   {
-    return static_cast<unsigned char>((1. * I[i][j - 2] + 4. * I[i][j - 1] + 6. * I[i][j] + 4. * I[i][j + 1] + 1. * I[i][j + 2]) / 16.);
+    return static_cast<unsigned char>(((1. * I[i][j - 2]) + (4. * I[i][j - 1]) + (6. * I[i][j]) + (4. * I[i][j + 1]) + (1. * I[i][j + 2])) / 16.);
   }
   static inline unsigned char filterGaussYPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
   {
-    return static_cast<unsigned char>((1. * I[i - 2][j] + 4. * I[i - 1][j] + 6. * I[i][j] + 4. * I[i + 1][j] + 1. * I[i + 2][j]) / 16.);
+    return static_cast<unsigned char>(((1. * I[i - 2][j]) + (4. * I[i - 1][j]) + (6. * I[i][j]) + (4. * I[i + 1][j]) + (1. * I[i + 2][j])) / 16.);
   }
 
   template <typename ImageType, typename FilterType>
@@ -750,7 +750,7 @@ class VISP_EXPORT vpImageFilter
     const unsigned int height = I.getHeight();
     const unsigned int width = I.getWidth();
     const unsigned int stop1J = (size - 1) / 2;
-    const unsigned int stop2J = width - (size - 1) / 2;
+    const unsigned int stop2J = width - ((size - 1) / 2);
     resizeAndInitializeIfNeeded(p_mask, height, width, dIx);
 
     for (unsigned int i = 0; i < height; ++i) {
@@ -798,7 +798,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<FilterType>(I[r][c + i] + I[r][c - i]);
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
@@ -809,7 +809,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r][c + i].R + I[r][c - i].R);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
 
   static inline double filterXG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -820,7 +820,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r][c + i].G + I[r][c - i].G);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   static inline double filterXB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -831,7 +831,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r][c + i].B + I[r][c - i].B);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 
   template <typename ImageType, typename FilterType>
@@ -849,7 +849,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<FilterType>(I[r][c + i] + I[r][i - c]);
       }
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 
   static inline double filterXLeftBorderR(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -866,7 +866,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].R + I[r][i - c].R);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
 
   static inline double filterXLeftBorderG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -883,7 +883,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].G + I[r][i - c].G);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   static inline double filterXLeftBorderB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -900,7 +900,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].B + I[r][i - c].B);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 
   template <typename ImageType, typename FilterType>
@@ -916,10 +916,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<FilterType>(I[r][c + i] + I[r][c - i]);
       }
       else {
-        result += filter[i] * static_cast<FilterType>(I[r][2 * width - c - i - 1] + I[r][c - i]);
+        result += filter[i] * static_cast<FilterType>(I[r][((2 * width) - c) - i - 1] + I[r][c - i]);
       }
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 
   static inline double filterXRightBorderR(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -934,10 +934,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].R + I[r][c - i].R);
       }
       else {
-        result += filter[i] * static_cast<double>(I[r][2 * width - c - i - 1].R + I[r][c - i].R);
+        result += filter[i] * static_cast<double>(I[r][((2 * width) - c) - i - 1].R + I[r][c - i].R);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
 
   static inline double filterXRightBorderG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -952,10 +952,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].G + I[r][c - i].G);
       }
       else {
-        result += filter[i] * static_cast<double>(I[r][2 * width - c - i - 1].G + I[r][c - i].G);
+        result += filter[i] * static_cast<double>(I[r][((2 * width) - c) - i - 1].G + I[r][c - i].G);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   static inline double filterXRightBorderB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -970,10 +970,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r][c + i].B + I[r][c - i].B);
       }
       else {
-        result += filter[i] * static_cast<double>(I[r][2 * width - c - i - 1].B + I[r][c - i].B);
+        result += filter[i] * static_cast<double>(I[r][(2 * width) - c - i - 1].B + I[r][c - i].B);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 #endif
 
@@ -992,7 +992,7 @@ class VISP_EXPORT vpImageFilter
   {
     const unsigned int height = I.getHeight(), width = I.getWidth();
     const unsigned int stop1I = (size - 1) / 2;
-    const unsigned int stop2I = height - (size - 1) / 2;
+    const unsigned int stop2I = height - ((size - 1) / 2);
     resizeAndInitializeIfNeeded(p_mask, height, width, dIy);
 
     for (unsigned int i = 0; i < stop1I; ++i) {
@@ -1036,7 +1036,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<FilterType>(I[r + i][c] + I[r - i][c]);
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
   static inline double filterYR(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -1047,7 +1047,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r + i][c].R + I[r - i][c].R);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
   static inline double filterYG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
   {
@@ -1057,7 +1057,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r + i][c].G + I[r - i][c].G);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   static inline double filterYB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -1068,7 +1068,7 @@ class VISP_EXPORT vpImageFilter
     for (unsigned int i = 1; i <= stop; ++i) {
       result += filter[i] * static_cast<double>(I[r + i][c].B + I[r - i][c].B);
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 
   template<typename ImageType, typename FilterType>
@@ -1086,7 +1086,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<FilterType>(I[r + i][c] + I[i - r][c]);
       }
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 
   double static inline filterYTopBorderR(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -1102,7 +1102,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].R + I[i - r][c].R);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
 
   double static inline filterYTopBorderG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -1118,7 +1118,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].G + I[i - r][c].G);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   double static inline filterYTopBorderB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c, const double *filter, unsigned int size)
@@ -1134,7 +1134,7 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].B + I[i - r][c].B);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 
   template<typename ImageType, typename FilterType>
@@ -1150,10 +1150,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<FilterType>(I[r + i][c] + I[r - i][c]);
       }
       else {
-        result += filter[i] * static_cast<FilterType>(I[2 * height - r - i - 1][c] + I[r - i][c]);
+        result += filter[i] * static_cast<FilterType>(I[((2 * height) - r) - i - 1][c] + I[r - i][c]);
       }
     }
-    return result + filter[0] * static_cast<FilterType>(I[r][c]);
+    return result + (filter[0] * static_cast<FilterType>(I[r][c]));
   }
 
   double static inline filterYBottomBorderR(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -1168,10 +1168,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].R + I[r - i][c].R);
       }
       else {
-        result += filter[i] * static_cast<double>(I[2 * height - r - i - 1][c].R + I[r - i][c].R);
+        result += filter[i] * static_cast<double>(I[((2 * height) - r) - i - 1][c].R + I[r - i][c].R);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].R);
+    return result + (filter[0] * static_cast<double>(I[r][c].R));
   }
 
   double static inline filterYBottomBorderG(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -1186,10 +1186,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].G + I[r - i][c].G);
       }
       else {
-        result += filter[i] * static_cast<double>(I[2 * height - r - i - 1][c].G + I[r - i][c].G);
+        result += filter[i] * static_cast<double>(I[((2 * height) - r) - i - 1][c].G + I[r - i][c].G);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].G);
+    return result + (filter[0] * static_cast<double>(I[r][c].G));
   }
 
   double static inline filterYBottomBorderB(const vpImage<vpRGBa> &I, unsigned int r, unsigned int c,
@@ -1204,10 +1204,10 @@ class VISP_EXPORT vpImageFilter
         result += filter[i] * static_cast<double>(I[r + i][c].B + I[r - i][c].B);
       }
       else {
-        result += filter[i] * static_cast<double>(I[2 * height - r - i - 1][c].B + I[r - i][c].B);
+        result += filter[i] * static_cast<double>(I[((2 * height) - r) - i - 1][c].B + I[r - i][c].B);
       }
     }
-    return result + filter[0] * static_cast<double>(I[r][c].B);
+    return result + (filter[0] * static_cast<double>(I[r][c].B));
   }
 #endif
 
@@ -1250,12 +1250,13 @@ class VISP_EXPORT vpImageFilter
    */
   template <class T> static double gaussianFilter(const vpImage<T> &fr, unsigned int r, unsigned int c)
   {
-    return (15.0 * fr[r][c] + 12.0 * (fr[r - 1][c] + fr[r][c - 1] + fr[r + 1][c] + fr[r][c + 1]) +
-            9.0 * (fr[r - 1][c - 1] + fr[r + 1][c - 1] + fr[r - 1][c + 1] + fr[r + 1][c + 1]) +
-            5.0 * (fr[r - 2][c] + fr[r][c - 2] + fr[r + 2][c] + fr[r][c + 2]) +
-            4.0 * (fr[r - 2][c + 1] + fr[r - 2][c - 1] + fr[r - 1][c - 2] + fr[r + 1][c - 2] + fr[r + 2][c - 1] +
-                   fr[r + 2][c + 1] + fr[r - 1][c + 2] + fr[r + 1][c + 2]) +
-            2.0 * (fr[r - 2][c - 2] + fr[r + 2][c - 2] + fr[r - 2][c + 2] + fr[r + 2][c + 2])) / 159.0;
+    return ((15.0 * fr[r][c]) +
+            (12.0 * (fr[r - 1][c] + fr[r][c - 1] + fr[r + 1][c] + fr[r][c + 1])) +
+            (9.0 * (fr[r - 1][c - 1] + fr[r + 1][c - 1] + fr[r - 1][c + 1] + fr[r + 1][c + 1])) +
+            (5.0 * (fr[r - 2][c] + fr[r][c - 2] + fr[r + 2][c] + fr[r][c + 2])) +
+            (4.0 * (fr[r - 2][c + 1] + fr[r - 2][c - 1] + fr[r - 1][c - 2] + fr[r + 1][c - 2] + fr[r + 2][c - 1] +
+                    fr[r + 2][c + 1] + fr[r - 1][c + 2] + fr[r + 1][c + 2])) +
+            (2.0 * (fr[r - 2][c - 2] + fr[r + 2][c - 2] + fr[r - 2][c + 2] + fr[r + 2][c + 2]))) / 159.0;
   }
   // Gaussian pyramid operation
   static void getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char> &GI);
@@ -1292,9 +1293,9 @@ class VISP_EXPORT vpImageFilter
     int middle = (static_cast<int>(size) - 1) / 2;
     FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
     FilterType coef1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
-    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
+    FilterType v_2_sigma2 = static_cast<FilterType>(2. * sigma2);
     for (int i = 0; i <= middle; ++i) {
-      filter[i] = coef1 * static_cast<FilterType>(exp(-(i * i) / _2_sigma2));
+      filter[i] = coef1 * static_cast<FilterType>(exp(-(i * i) / v_2_sigma2));
     }
     if (normalize) {
       // renormalization
@@ -1339,17 +1340,17 @@ class VISP_EXPORT vpImageFilter
     FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
     FilterType coef_1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
     FilterType coef_1_over_2 = coef_1 / static_cast<FilterType>(2.);
-    FilterType _2_coef_1 = static_cast<FilterType>(2.) * coef_1;
-    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
+    FilterType v_2_coef_1 = static_cast<FilterType>(2.) * coef_1;
+    FilterType v_2_sigma2 = static_cast<FilterType>(2. * sigma2);
     filter[0] = 0.;
     for (int i = 1; i <= middle; ++i) {
-      filter[i] = -coef_1_over_2 * (static_cast<FilterType>(exp(-((i + 1) * (i + 1)) / _2_sigma2)) - static_cast<FilterType>(exp(-((i - 1) * (i - 1)) / _2_sigma2)));
+      filter[i] = -coef_1_over_2 * (static_cast<FilterType>(exp(-((i + 1) * (i + 1)) / v_2_sigma2)) - static_cast<FilterType>(exp(-((i - 1) * (i - 1)) / v_2_sigma2)));
     }
 
     if (normalize) {
       FilterType sum = 0;
       for (int i = 1; i <= middle; ++i) {
-        sum += _2_coef_1 * static_cast<FilterType>(exp(-(i * i) / _2_sigma2));
+        sum += v_2_coef_1 * static_cast<FilterType>(exp(-(i * i) / v_2_sigma2));
       }
       sum += coef_1;
 
@@ -1398,7 +1399,7 @@ class VISP_EXPORT vpImageFilter
   {
     const unsigned int height = I.getHeight(), width = I.getWidth();
     const unsigned int stop1J = (size - 1) / 2;
-    const unsigned int stop2J = width - (size - 1) / 2;
+    const unsigned int stop2J = width - ((size - 1) / 2);
     resizeAndInitializeIfNeeded(p_mask, height, width, dIx);
 
     for (unsigned int i = 0; i < height; ++i) {
@@ -1492,7 +1493,7 @@ class VISP_EXPORT vpImageFilter
   {
     const unsigned int height = I.getHeight(), width = I.getWidth();
     const unsigned int stop1I = (size - 1) / 2;
-    const unsigned int stop2I = height - (size - 1) / 2;
+    const unsigned int stop2I = height - ((size - 1) / 2);
     resizeAndInitializeIfNeeded(p_mask, height, width, dIy);
 
     for (unsigned int i = 0; i < stop1I; ++i) {
@@ -1560,11 +1561,11 @@ class VISP_EXPORT vpImageFilter
     if (size != 1) {
       // Size = 1 => kernel_size = 2*1 + 1 = 3
       std::stringstream errMsg;
-      errMsg << "Cannot get Scharr kernel of size " << size * 2 + 1 << " != 3";
+      errMsg << "Cannot get Scharr kernel of size " << ((size * 2) + 1) << " != 3";
       throw vpException(vpException::dimensionError, errMsg.str());
     }
 
-    vpArray2D<FilterType> ScharrY(size * 2 + 1, size * 2 + 1);
+    vpArray2D<FilterType> ScharrY((size * 2) + 1, (size * 2) + 1);
     FilterType norm = getScharrKernelY<FilterType>(ScharrY.data, size);
     memcpy(filter, ScharrY.t().data, ScharrY.getRows() * ScharrY.getCols() * sizeof(FilterType));
     return norm;
@@ -1586,11 +1587,11 @@ class VISP_EXPORT vpImageFilter
     if (size != 1) {
       // Size = 1 => kernel_size = 2*1 + 1 = 3
       std::stringstream errMsg;
-      errMsg << "Cannot get Scharr kernel of size " << size * 2 + 1 << " != 3";
+      errMsg << "Cannot get Scharr kernel of size " << ((size * 2) + 1) << " != 3";
       throw vpException(vpException::dimensionError, errMsg.str());
     }
 
-    const unsigned int kernel_size = size * 2 + 1;
+    const unsigned int kernel_size = (size * 2) + 1;
     if (kernel_size == 3) {
       memcpy(filter, ScharrY3x3, kernel_size * kernel_size * sizeof(FilterType));
       return static_cast<FilterType>(1.0 / 32.0);
@@ -1616,7 +1617,7 @@ class VISP_EXPORT vpImageFilter
       throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size > 20!");
     }
 
-    vpArray2D<FilterType> SobelY(size * 2 + 1, size * 2 + 1);
+    vpArray2D<FilterType> SobelY((size * 2) + 1, (size * 2) + 1);
     FilterType norm = getSobelKernelY<FilterType>(SobelY.data, size);
     memcpy(filter, SobelY.t().data, SobelY.getRows() * SobelY.getCols() * sizeof(FilterType));
     return norm;
@@ -1657,7 +1658,7 @@ class VISP_EXPORT vpImageFilter
       throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size > 20!");
     }
 
-    const unsigned int kernel_size = size * 2 + 1;
+    const unsigned int kernel_size = (size * 2) + 1;
     FilterType scale = static_cast<FilterType>(1. / 8.); // Scale to normalize Sobel3x3
     if (kernel_size == 3) {
       memcpy(filter, SobelY3x3, kernel_size * kernel_size * sizeof(FilterType));
diff --git a/modules/core/include/visp3/core/vpImageMorphology.h b/modules/core/include/visp3/core/vpImageMorphology.h
index c748209bd9..e467f4cd2b 100644
--- a/modules/core/include/visp3/core/vpImageMorphology.h
+++ b/modules/core/include/visp3/core/vpImageMorphology.h
@@ -188,9 +188,11 @@ void vpImageMorphology::erosion(vpImage<Type> &I, Type value, Type value_out, vp
 
   vpImage<Type> J(I.getHeight() + 2, I.getWidth() + 2);
   // Copy I to J and add border
-  for (unsigned int i = 0; i < J.getHeight(); ++i) {
-    if (i == 0 || i == J.getHeight() - 1) {
-      for (unsigned int j = 0; j < J.getWidth(); ++j) {
+  unsigned int j_height = J.getHeight();
+  unsigned int j_width = J.getWidth();
+  for (unsigned int i = 0; i < j_height; ++i) {
+    if ((i == 0) || (i == (j_height - 1))) {
+      for (unsigned int j = 0; j < j_width; ++j) {
         J[i][j] = value;
       }
     }
@@ -202,8 +204,10 @@ void vpImageMorphology::erosion(vpImage<Type> &I, Type value, Type value_out, vp
   }
 
   if (connexity == CONNEXITY_4) {
-    for (unsigned int i = 0; i < I.getHeight(); ++i) {
-      for (unsigned int j = 0; j < I.getWidth(); ++j) {
+    unsigned int i_height = I.getHeight();
+    unsigned int i_width = I.getWidth();
+    for (unsigned int i = 0; i < i_height; ++i) {
+      for (unsigned int j = 0; j < i_width; ++j) {
         if (J[i + 1][j + 1] == value) {
           // Consider 4 neighbors
           if ((J[i][j + 1] == value_out) ||     // Top
@@ -217,14 +221,19 @@ void vpImageMorphology::erosion(vpImage<Type> &I, Type value, Type value_out, vp
     }
   }
   else {
-    for (unsigned int i = 0; i < I.getHeight(); ++i) {
-      for (unsigned int j = 0; j < I.getWidth(); ++j) {
+    unsigned int i_height = I.getHeight();
+    unsigned int i_width = I.getWidth();
+    for (unsigned int i = 0; i < i_height; ++i) {
+      for (unsigned int j = 0; j < i_width; ++j) {
         if (J[i + 1][j + 1] == value) {
           // Consider 8 neighbors
-          if ((J[i][j] == value_out) || (J[i][j + 1] == value_out) || (J[i][j + 2] == value_out) ||
-            (J[i + 1][j] == value_out) || (J[i + 1][j + 2] == value_out) || (J[i + 2][j] == value_out) ||
-            (J[i + 2][j + 1] == value_out) || (J[i + 2][j + 2] == value_out))
+          bool cond4firstneighbors = (J[i][j] == value_out) || (J[i][j + 1] == value_out) ||
+            (J[i][j + 2] == value_out) || (J[i + 1][j] == value_out);
+          bool cond4secondneighbors = (J[i + 1][j + 2] == value_out) || (J[i + 2][j] == value_out) ||
+            (J[i + 2][j + 1] == value_out) || (J[i + 2][j + 2] == value_out);
+          if (cond4firstneighbors || cond4secondneighbors) {
             I[i][j] = value_out;
+          }
         }
       }
     }
@@ -258,9 +267,11 @@ void vpImageMorphology::dilatation(vpImage<Type> &I, Type value, Type value_out,
 
   vpImage<Type> J(I.getHeight() + 2, I.getWidth() + 2);
   // Copy I to J and add border
-  for (unsigned int i = 0; i < J.getHeight(); ++i) {
-    if (i == 0 || i == J.getHeight() - 1) {
-      for (unsigned int j = 0; j < J.getWidth(); ++j) {
+  unsigned int j_height = J.getHeight();
+  unsigned int j_width = J.getWidth();
+  for (unsigned int i = 0; i < j_height; ++i) {
+    if ((i == 0) || (i == (j_height - 1))) {
+      for (unsigned int j = 0; j < j_width; ++j) {
         J[i][j] = value_out;
       }
     }
@@ -272,8 +283,10 @@ void vpImageMorphology::dilatation(vpImage<Type> &I, Type value, Type value_out,
   }
 
   if (connexity == CONNEXITY_4) {
-    for (unsigned int i = 0; i < I.getHeight(); ++i) {
-      for (unsigned int j = 0; j < I.getWidth(); ++j) {
+    unsigned int i_height = I.getHeight();
+    unsigned int i_width = I.getWidth();
+    for (unsigned int i = 0; i < i_height; ++i) {
+      for (unsigned int j = 0; j < i_width; ++j) {
         if (J[i + 1][j + 1] == value_out) {
           // Consider 4 neighbors
           if ((J[i][j + 1] == value) ||     // Top
@@ -287,13 +300,16 @@ void vpImageMorphology::dilatation(vpImage<Type> &I, Type value, Type value_out,
     }
   }
   else {
-    for (unsigned int i = 0; i < I.getHeight(); ++i) {
-      for (unsigned int j = 0; j < I.getWidth(); ++j) {
+    unsigned int i_height = I.getHeight();
+    unsigned int i_width = I.getWidth();
+    for (unsigned int i = 0; i < i_height; ++i) {
+      for (unsigned int j = 0; j < i_width; ++j) {
         if (J[i + 1][j + 1] == value_out) {
           // Consider 8 neighbors
-          if ((J[i][j] == value) || (J[i][j + 1] == value) || (J[i][j + 2] == value) || (J[i + 1][j] == value) ||
-            (J[i + 1][j + 2] == value) || (J[i + 2][j] == value) || (J[i + 2][j + 1] == value) ||
-            (J[i + 2][j + 2] == value)) {
+          bool cond4firstneighbors = (J[i][j] == value) || (J[i][j + 1] == value) || (J[i][j + 2] == value) || (J[i + 1][j] == value);
+          bool cond4secondneighbors = (J[i + 1][j + 2] == value) || (J[i + 2][j] == value) || (J[i + 2][j + 1] == value) ||
+            (J[i + 2][j + 2] == value);
+          if (cond4firstneighbors || cond4secondneighbors) {
             I[i][j] = value;
           }
         }
@@ -423,20 +439,20 @@ void vpImageMorphology::imageOperation(vpImage<T> &I, const T &(*operation)(cons
   for (int r = 0; r < height_in; ++r) {
     // Computing the rows we can explore without going outside the limits of the image
     int r_iterator_start = -halfKernelSize, r_iterator_stop = halfKernelSize + 1;
-    if (r - halfKernelSize < 0) {
+    if ((r - halfKernelSize) < 0) {
       r_iterator_start = -r;
     }
-    else if (r + halfKernelSize >= height_in) {
+    else if ((r + halfKernelSize) >= height_in) {
       r_iterator_stop = height_in - r;
     }
     for (int c = 0; c < width_in; ++c) {
       T value = I[r][c];
       // Computing the columns we can explore without going outside the limits of the image
       int c_iterator_start = -halfKernelSize, c_iterator_stop = halfKernelSize + 1;
-      if (c - halfKernelSize < 0) {
+      if ((c - halfKernelSize) < 0) {
         c_iterator_start = -c;
       }
-      else if (c + halfKernelSize >= width_in) {
+      else if ((c + halfKernelSize) >= width_in) {
         c_iterator_stop = width_in - c;
       }
       for (int r_iterator = r_iterator_start; r_iterator < r_iterator_stop; ++r_iterator) {
diff --git a/modules/core/include/visp3/core/vpImagePoint.h b/modules/core/include/visp3/core/vpImagePoint.h
index f0a69ed114..120385f7b1 100644
--- a/modules/core/include/visp3/core/vpImagePoint.h
+++ b/modules/core/include/visp3/core/vpImagePoint.h
@@ -161,10 +161,11 @@ class VISP_EXPORT vpImagePoint
    */
   inline bool inSegment(const vpImagePoint &start, const vpImagePoint &end) const
   {
-    return ((end.get_j() >= start.get_j() && end.get_j() >= this->j && this->j >= start.get_j()) ||
-            (end.get_j() <= start.get_j() && end.get_j() <= this->j && this->j <= start.get_j())) &&
-      ((end.get_i() >= start.get_i() && end.get_i() >= this->i && this->i >= start.get_i()) ||
-       (end.get_i() <= start.get_i() && end.get_i() <= this->i && this->i <= start.get_i()));
+    bool cond11 = ((end.get_j() >= start.get_j()) && (end.get_j() >= this->j) && (this->j >= start.get_j()));
+    bool cond12 = ((end.get_j() <= start.get_j()) && (end.get_j() <= this->j) && (this->j <= start.get_j()));
+    bool cond21 = ((end.get_i() >= start.get_i()) && (end.get_i() >= this->i) && (this->i >= start.get_i()));
+    bool cond22 = ((end.get_i() <= start.get_i()) && (end.get_i() <= this->i) && (this->i <= start.get_i()));
+    return (cond11 || cond12) && (cond21 || cond22);
   }
 
   /*!
@@ -216,15 +217,15 @@ class VISP_EXPORT vpImagePoint
   {
     const double line_slope = (end.get_i() - start.get_i()) / (end.get_j() - start.get_j());
     if (fabs(end.get_j() - this->j) > fabs(end.get_i() - this->i)) {
-      double j_ = (end.get_j() > this->j ? this->j + 1 : this->j - 1);
+      double j_ = (end.get_j() > this->j ? (this->j + 1) : (this->j - 1));
 #if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
-      return { end.get_i() - line_slope * (end.get_j() - j_), j_ };
+      return { end.get_i() - (line_slope * (end.get_j() - j_)), j_ };
 #else
       return vpImagePoint(end.get_i() - line_slope * (end.get_j() - j_), j_);
 #endif
     }
     else {
-      double i_ = (end.get_i() > this->i ? this->i + 1 : this->i - 1);
+      double i_ = (end.get_i() > this->i ? (this->i + 1) : (this->i - 1));
 #if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
       return { i_, end.get_j() - ((end.get_i() - i_) / line_slope) };
 #else
diff --git a/modules/core/include/visp3/core/vpImageTools.h b/modules/core/include/visp3/core/vpImageTools.h
index b5a1c4fd52..a9b0acbd33 100644
--- a/modules/core/include/visp3/core/vpImageTools.h
+++ b/modules/core/include/visp3/core/vpImageTools.h
@@ -312,30 +312,30 @@ template <class Type>
 void vpImageTools::crop(const vpImage<Type> &I, double roi_top, double roi_left, unsigned int roi_height,
                         unsigned int roi_width, vpImage<Type> &crop, unsigned int v_scale, unsigned int h_scale)
 {
-  int i_min = std::max<int>((int)(ceil(roi_top / v_scale)), 0);
-  int j_min = std::max<int>((int)(ceil(roi_left / h_scale)), 0);
-  int i_max = std::min<int>((int)(ceil((roi_top + roi_height)) / v_scale), (int)(I.getHeight() / v_scale));
-  int j_max = std::min<int>((int)(ceil((roi_left + roi_width) / h_scale)), (int)(I.getWidth() / h_scale));
+  int i_min = std::max<int>(static_cast<int>(ceil(roi_top / v_scale)), 0);
+  int j_min = std::max<int>(static_cast<int>(ceil(roi_left / h_scale)), 0);
+  int i_max = std::min<int>(static_cast<int>(ceil(roi_top + roi_height) / v_scale), static_cast<int>(I.getHeight() / v_scale));
+  int j_max = std::min<int>(static_cast<int>(ceil((roi_left + roi_width) / h_scale)), static_cast<int>(I.getWidth() / h_scale));
 
-  unsigned int i_min_u = (unsigned int)i_min;
-  unsigned int j_min_u = (unsigned int)j_min;
+  unsigned int i_min_u = static_cast<unsigned int>(i_min);
+  unsigned int j_min_u = static_cast<unsigned int>(j_min);
 
-  unsigned int r_width = (unsigned int)(j_max - j_min);
-  unsigned int r_height = (unsigned int)(i_max - i_min);
+  unsigned int r_width = static_cast<unsigned int>(j_max - j_min);
+  unsigned int r_height = static_cast<unsigned int>(i_max - i_min);
 
   crop.resize(r_height, r_width);
 
-  if (v_scale == 1 && h_scale == 1) {
+  if ((v_scale == 1) && (h_scale == 1)) {
     for (unsigned int i = 0; i < r_height; ++i) {
       void *src = (void *)(I[i + i_min_u] + j_min_u);
-      void *dst = (void *)crop[i];
+      void *dst = (void *)(crop[i]);
       memcpy(dst, src, r_width * sizeof(Type));
     }
   }
   else if (h_scale == 1) {
     for (unsigned int i = 0; i < r_height; ++i) {
       void *src = (void *)(I[(i + i_min_u) * v_scale] + j_min_u);
-      void *dst = (void *)crop[i];
+      void *dst = (void *)(crop[i]);
       memcpy(dst, src, r_width * sizeof(Type));
     }
   }
@@ -392,7 +392,7 @@ template <class Type>
 void vpImageTools::crop(const vpImage<Type> &I, const vpRect &roi, vpImage<Type> &crop, unsigned int v_scale,
                         unsigned int h_scale)
 {
-  vpImageTools::crop(I, roi.getTop(), roi.getLeft(), (unsigned int)roi.getHeight(), (unsigned int)roi.getWidth(), crop,
+  vpImageTools::crop(I, roi.getTop(), roi.getLeft(), static_cast<unsigned int>(roi.getHeight()), static_cast<unsigned int>(roi.getWidth()), crop,
                      v_scale, h_scale);
 }
 
@@ -417,30 +417,30 @@ template <class Type>
 void vpImageTools::crop(const unsigned char *bitmap, unsigned int width, unsigned int height, const vpRect &roi,
                         vpImage<Type> &crop, unsigned int v_scale, unsigned int h_scale)
 {
-  int i_min = std::max<int>((int)(ceil(roi.getTop() / v_scale)), 0);
-  int j_min = std::max<int>((int)(ceil(roi.getLeft() / h_scale)), 0);
-  int i_max = std::min<int>((int)(ceil((roi.getTop() + roi.getHeight()) / v_scale)), (int)(height / v_scale));
-  int j_max = std::min<int>((int)(ceil((roi.getLeft() + roi.getWidth()) / h_scale)), (int)(width / h_scale));
+  int i_min = std::max<int>(static_cast<int>(ceil(roi.getTop() / v_scale)), 0);
+  int j_min = std::max<int>(static_cast<int>(ceil(roi.getLeft() / h_scale)), 0);
+  int i_max = std::min<int>(static_cast<int>(ceil((roi.getTop() + roi.getHeight()) / v_scale)), static_cast<int>(height / v_scale));
+  int j_max = std::min<int>(static_cast<int>(ceil((roi.getLeft() + roi.getWidth()) / h_scale)), static_cast<int>(width / h_scale));
 
-  unsigned int i_min_u = (unsigned int)i_min;
-  unsigned int j_min_u = (unsigned int)j_min;
+  unsigned int i_min_u = static_cast<unsigned int>(i_min);
+  unsigned int j_min_u = static_cast<unsigned int>(j_min);
 
-  unsigned int r_width = (unsigned int)(j_max - j_min);
-  unsigned int r_height = (unsigned int)(i_max - i_min);
+  unsigned int r_width = static_cast<unsigned int>(j_max - j_min);
+  unsigned int r_height = static_cast<unsigned int>(i_max - i_min);
 
   crop.resize(r_height, r_width);
 
   if (v_scale == 1 && h_scale == 1) {
     for (unsigned int i = 0; i < r_height; ++i) {
       void *src = (void *)(bitmap + ((i + i_min_u) * width + j_min_u) * sizeof(Type));
-      void *dst = (void *)crop[i];
+      void *dst = (void *)(crop[i]);
       memcpy(dst, src, r_width * sizeof(Type));
     }
   }
   else if (h_scale == 1) {
     for (unsigned int i = 0; i < r_height; ++i) {
       void *src = (void *)(bitmap + ((i + i_min_u) * width * v_scale + j_min_u) * sizeof(Type));
-      void *dst = (void *)crop[i];
+      void *dst = (void *)(crop[i]);
       memcpy(dst, src, r_width * sizeof(Type));
     }
   }
@@ -449,7 +449,7 @@ void vpImageTools::crop(const unsigned char *bitmap, unsigned int width, unsigne
       unsigned int i_src = (i + i_min_u) * width * v_scale + j_min_u * h_scale;
       for (unsigned int j = 0; j < r_width; ++j) {
         void *src = (void *)(bitmap + (i_src + j * h_scale) * sizeof(Type));
-        void *dst = (void *)&crop[i][j];
+        void *dst = (void *)(&crop[i][j]);
         memcpy(dst, src, sizeof(Type));
       }
     }
@@ -476,15 +476,18 @@ inline void vpImageTools::binarise(vpImage<Type> &I, Type threshold1, Type thres
 
   Type v;
   Type *p = I.bitmap;
-  Type *pend = I.bitmap + I.getWidth() * I.getHeight();
+  Type *pend = I.bitmap + (I.getWidth() * I.getHeight());
   for (; p < pend; ++p) {
     v = *p;
-    if (v < threshold1)
+    if (v < threshold1) {
       *p = value1;
-    else if (v > threshold2)
+    }
+    else if (v > threshold2) {
       *p = value3;
-    else
+    }
+    else {
       *p = value2;
+    }
   }
 }
 
@@ -513,15 +516,18 @@ inline void vpImageTools::binarise(vpImage<unsigned char> &I, unsigned char thre
   }
   else {
     unsigned char *p = I.bitmap;
-    unsigned char *pend = I.bitmap + I.getWidth() * I.getHeight();
+    unsigned char *pend = I.bitmap + (I.getWidth() * I.getHeight());
     for (; p < pend; ++p) {
       unsigned char v = *p;
-      if (v < threshold1)
+      if (v < threshold1) {
         *p = value1;
-      else if (v > threshold2)
+      }
+      else if (v > threshold2) {
         *p = value3;
-      else
+      }
+      else {
         *p = value2;
+      }
     }
   }
 }
@@ -718,7 +724,9 @@ void vpImageTools::undistort(const vpImage<Type> &I, const vpCameraParameters &c
   double py = cam.get_py();
   double kud = cam.get_kud();
 
+  /*
   // if (kud == 0) {
+  */
   if (std::fabs(kud) <= std::numeric_limits<double>::epsilon()) {
     // There is no need to undistort the image
     undistI = I;
@@ -734,46 +742,56 @@ void vpImageTools::undistort(const vpImage<Type> &I, const vpCameraParameters &c
   Type *dst = undistI.bitmap;
   for (double v = 0; v < height; ++v) {
     double deltav = v - v0;
+    /*
     // double fr1 = 1.0 + kd * (vpMath::sqr(deltav * invpy));
-    double fr1 = 1.0 + kud_py2 * deltav * deltav;
+    */
+    double fr1 = 1.0 + (kud_py2 * deltav * deltav);
 
     for (double u = 0; u < width; ++u) {
+      /*
       // computation of u,v : corresponding pixel coordinates in I.
+      */
       double deltau = u - u0;
+      /*
       // double fr2 = fr1 + kd * (vpMath::sqr(deltau * invpx));
-      double fr2 = fr1 + kud_px2 * deltau * deltau;
+      */
+      double fr2 = fr1 + (kud_px2 * deltau * deltau);
 
-      double u_double = deltau * fr2 + u0;
-      double v_double = deltav * fr2 + v0;
+      double u_double = (deltau * fr2) + u0;
+      double v_double = (deltav * fr2) + v0;
 
       // printf("[%g][%g] %g %g : ", u, v, u_double, v_double );
 
       // computation of the bilinear interpolation
 
       // declarations
-      int u_round = (int)(u_double);
-      int v_round = (int)(v_double);
-      if (u_round < 0.f)
+      int u_round = static_cast<int>(u_double);
+      int v_round = static_cast<int>(v_double);
+      if (u_round < 0.f) {
         u_round = -1;
-      if (v_round < 0.f)
+      }
+      if (v_round < 0.f) {
         v_round = -1;
-      double du_double = (u_double)-(double)u_round;
-      double dv_double = (v_double)-(double)v_round;
+      }
+      double du_double = u_double-static_cast<double>(u_round);
+      double dv_double = v_double-static_cast<double>(v_round);
       Type v01;
       Type v23;
-      if ((0 <= u_round) && (0 <= v_round) && (u_round < (((int)width) - 1)) && (v_round < (((int)height) - 1))) {
+      if ((0 <= u_round) && (0 <= v_round) && (u_round < ((static_cast<int>(width)) - 1)) && (v_round < ((static_cast<int>(height)) - 1))) {
         // process interpolation
-        const Type *_mp = &I[(unsigned int)v_round][(unsigned int)u_round];
-        v01 = (Type)(_mp[0] + ((_mp[1] - _mp[0]) * du_double));
-        _mp += width;
-        v23 = (Type)(_mp[0] + ((_mp[1] - _mp[0]) * du_double));
-        *dst = (Type)(v01 + ((v23 - v01) * dv_double));
+        const Type *v_mp = &I[static_cast<unsigned int>(v_round)][static_cast<unsigned int>(u_round)];
+        v01 = static_cast<Type>(v_mp[0] + ((v_mp[1] - v_mp[0]) * du_double));
+        v_mp += width;
+        v23 = static_cast<Type>(v_mp[0] + ((v_mp[1] - v_mp[0]) * du_double));
+        *dst = static_cast<Type>(v01 + ((v23 - v01) * dv_double));
+        /*
         // printf("R %d G %d B %d\n", dst->R, dst->G, dst->B);
+        */
       }
       else {
         *dst = 0;
       }
-      dst++;
+      ++dst;
     }
   }
 #endif // VISP_HAVE_THREADS
@@ -842,7 +860,7 @@ template <class Type> void vpImageTools::flip(const vpImage<Type> &I, vpImage<Ty
   newI.resize(height, width);
 
   for (unsigned int i = 0; i < height; ++i) {
-    memcpy(newI.bitmap + i * width, I.bitmap + (height - 1 - i) * width, width * sizeof(Type));
+    memcpy(newI.bitmap + (i * width), I.bitmap + ((height - 1 - i) * width), width * sizeof(Type));
   }
 }
 
@@ -883,11 +901,11 @@ template <class Type> void vpImageTools::flip(vpImage<Type> &I)
   vpImage<Type> Ibuf;
   Ibuf.resize(1, width);
 
-  for (unsigned int i = 0; i < height / 2; ++i) {
-    memcpy(Ibuf.bitmap, I.bitmap + i * width, width * sizeof(Type));
+  for (unsigned int i = 0; i < (height / 2); ++i) {
+    memcpy(Ibuf.bitmap, I.bitmap + (i * width), width * sizeof(Type));
 
-    memcpy(I.bitmap + i * width, I.bitmap + (height - 1 - i) * width, width * sizeof(Type));
-    memcpy(I.bitmap + (height - 1 - i) * width, Ibuf.bitmap, width * sizeof(Type));
+    memcpy(I.bitmap + (i * width), I.bitmap + ((height - 1 - i) * width), width * sizeof(Type));
+    memcpy(I.bitmap + ((height - 1 - i) * width), Ibuf.bitmap, width * sizeof(Type));
   }
 }
 
@@ -1099,7 +1117,7 @@ void vpImageTools::resize(const vpImage<Type> &I, vpImage<Type> &Ires, const vpI
 #endif
 )
 {
-  if (I.getWidth() < 2 || I.getHeight() < 2 || Ires.getWidth() < 2 || Ires.getHeight() < 2) {
+  if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
     std::cerr << "Input or output image is too small!" << std::endl;
     return;
   }
@@ -1119,13 +1137,17 @@ void vpImageTools::resize(const vpImage<Type> &I, vpImage<Type> &Ires, const vpI
   }
 #pragma omp parallel for schedule(dynamic)
 #endif
+  /*
+  // int ires_height = static_cast<int>(Ires.getHeight());
+  */
   for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
-    const float v = (i + half) * scaleY - half;
+    const float v = ((i + half) * scaleY) - half;
     const float v0 = std::floor(v);
     const float yFrac = v - v0;
 
-    for (unsigned int j = 0; j < Ires.getWidth(); ++j) {
-      const float u = (j + half) * scaleX - half;
+    unsigned int ires_width = static_cast<unsigned int>(Ires.getWidth());
+    for (unsigned int j = 0; j < ires_width; ++j) {
+      const float u = ((j + half) * scaleX) - half;
       const float u0 = std::floor(u);
       const float xFrac = u - u0;
 
@@ -1152,7 +1174,7 @@ inline void vpImageTools::resize(const vpImage<unsigned char> &I, vpImage<unsign
 #endif
 )
 {
-  if (I.getWidth() < 2 || I.getHeight() < 2 || Ires.getWidth() < 2 || Ires.getHeight() < 2) {
+  if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
     std::cerr << "Input or output image is too small!" << std::endl;
     return;
   }
@@ -1174,12 +1196,16 @@ inline void vpImageTools::resize(const vpImage<unsigned char> &I, vpImage<unsign
     }
 #pragma omp parallel for schedule(dynamic)
 #endif
+    /*
+    // int ires_height = static_cast<int>(Ires.getHeight());
+    */
     for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
-      float v = (i + half) * scaleY - half;
+      float v = ((i + half) * scaleY) - half;
       float yFrac = v - static_cast<int>(v);
 
-      for (unsigned int j = 0; j < Ires.getWidth(); ++j) {
-        float u = (j + half) * scaleX - half;
+      unsigned int ires_width = static_cast<unsigned int>(Ires.getWidth());
+      for (unsigned int j = 0; j < ires_width; ++j) {
+        float u = ((j + half) * scaleX) - half;
         float xFrac = u - static_cast<int>(u);
 
         if (method == INTERPOLATION_NEAREST) {
@@ -1202,7 +1228,7 @@ inline void vpImageTools::resize(const vpImage<vpRGBa> &I, vpImage<vpRGBa> &Ires
 #endif
 )
 {
-  if (I.getWidth() < 2 || I.getHeight() < 2 || Ires.getWidth() < 2 || Ires.getHeight() < 2) {
+  if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
     std::cerr << "Input or output image is too small!" << std::endl;
     return;
   }
@@ -1224,12 +1250,16 @@ inline void vpImageTools::resize(const vpImage<vpRGBa> &I, vpImage<vpRGBa> &Ires
     }
 #pragma omp parallel for schedule(dynamic)
 #endif
+    /*
+    // int ires_height = static_cast<int>(Ires.getHeight());
+    */
     for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
       float v = (i + half) * scaleY - half;
       float yFrac = v - static_cast<int>(v);
 
-      for (unsigned int j = 0; j < Ires.getWidth(); ++j) {
-        float u = (j + half) * scaleX - half;
+      unsigned int ires_width = static_cast<unsigned int>(Ires.getWidth());
+      for (unsigned int j = 0; j < ires_width; ++j) {
+        float u = ((j + half) * scaleX) - half;
         float xFrac = u - static_cast<int>(u);
 
         if (method == INTERPOLATION_NEAREST) {
@@ -1262,7 +1292,7 @@ template <class Type>
 void vpImageTools::warpImage(const vpImage<Type> &src, const vpMatrix &T, vpImage<Type> &dst,
                              const vpImageInterpolationType &interpolation, bool fixedPointArithmetic, bool pixelCenter)
 {
-  if ((T.getRows() != 2 && T.getRows() != 3) || T.getCols() != 3) {
+  if (((T.getRows() != 2) && (T.getRows() != 3)) || (T.getCols() != 3)) {
     std::cerr << "Input transformation must be a (2x3) or (3x3) matrix." << std::endl;
     return;
   }
@@ -1280,15 +1310,15 @@ void vpImageTools::warpImage(const vpImage<Type> &src, const vpMatrix &T, vpImag
 
   vpMatrix M = T;
   if (affine) {
-    double D = M[0][0] * M[1][1] - M[0][1] * M[1][0];
-    D = !vpMath::nul(D, std::numeric_limits<double>::epsilon()) ? 1.0 / D : 0;
+    double D = (M[0][0] * M[1][1]) - (M[0][1] * M[1][0]);
+    D = !vpMath::nul(D, std::numeric_limits<double>::epsilon()) ? (1.0 / D) : 0;
     double A11 = M[1][1] * D, A22 = M[0][0] * D;
     M[0][0] = A11;
     M[0][1] *= -D;
     M[1][0] *= -D;
     M[1][1] = A22;
-    double b1 = -M[0][0] * M[0][2] - M[0][1] * M[1][2];
-    double b2 = -M[1][0] * M[0][2] - M[1][1] * M[1][2];
+    double b1 = (-M[0][0] * M[0][2]) - (M[0][1] * M[1][2]);
+    double b2 = (-M[1][0] * M[0][2]) - (M[1][1] * M[1][2]);
     M[0][2] = b1;
     M[1][2] = b2;
   }
@@ -1296,7 +1326,7 @@ void vpImageTools::warpImage(const vpImage<Type> &src, const vpMatrix &T, vpImag
     M = T.inverseByLU();
   }
 
-  if (fixedPointArithmetic && !pixelCenter) {
+  if (fixedPointArithmetic && (!pixelCenter)) {
     fixedPointArithmetic = checkFixedPoint(0, 0, M, affine) && checkFixedPoint(dst.getWidth() - 1, 0, M, affine) &&
       checkFixedPoint(0, dst.getHeight() - 1, M, affine) &&
       checkFixedPoint(dst.getWidth() - 1, dst.getHeight() - 1, M, affine);
@@ -1316,7 +1346,7 @@ template <class Type>
 void vpImageTools::warpNN(const vpImage<Type> &src, const vpMatrix &T, vpImage<Type> &dst, bool affine,
                           bool centerCorner, bool fixedPoint)
 {
-  if (fixedPoint && !centerCorner) {
+  if (fixedPoint && (!centerCorner)) {
     const int nbits = 16;
     const int32_t precision = 1 << nbits;
     const float precision_1 = 1 / static_cast<float>(precision);
@@ -1335,14 +1365,16 @@ void vpImageTools::warpNN(const vpImage<Type> &src, const vpMatrix &T, vpImage<T
     int32_t width_1_i32 = static_cast<int32_t>((src.getWidth() - 1) * precision) + 0x8000;
 
     if (affine) {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int32_t xi = a2_i32;
         int32_t yi = a5_i32;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (yi >= 0 && yi < height_1_i32 && xi >= 0 && xi < width_1_i32) {
-            float x_ = (xi >> nbits) + (xi & 0xFFFF) * precision_1;
-            float y_ = (yi >> nbits) + (yi & 0xFFFF) * precision_1;
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          if ((yi >= 0) && (yi < height_1_i32) && (xi >= 0) && (xi < width_1_i32)) {
+            float x_ = (xi >> nbits) + ((xi & 0xFFFF) * precision_1);
+            float y_ = (yi >> nbits) + ((yi & 0xFFFF) * precision_1);
 
             int x = vpMath::round(x_);
             int y = vpMath::round(y_);
@@ -1358,17 +1390,22 @@ void vpImageTools::warpNN(const vpImage<Type> &src, const vpMatrix &T, vpImage<T
       }
     }
     else {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      int src_height = static_cast<int>(src.getHeight());
+      int src_width = static_cast<int>(src.getWidth());
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int64_t xi = a2_i32;
         int64_t yi = a5_i32;
         int64_t wi = a8_i32;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (wi != 0 && yi >= 0 && yi <= (static_cast<int>(src.getHeight()) - 1) * wi && xi >= 0 &&
-              xi <= (static_cast<int>(src.getWidth()) - 1) * wi) {
-            float w_ = (wi >> nbits) + (wi & 0xFFFF) * precision_1;
-            float x_ = ((xi >> nbits) + (xi & 0xFFFF) * precision_1) / w_;
-            float y_ = ((yi >> nbits) + (yi & 0xFFFF) * precision_1) / w_;
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          bool cond_on_y = (yi >= 0) && (yi <= ((src_height - 1) * wi));
+          bool cond_on_x = (xi >= 0) && (xi <= ((src_width - 1) * wi));
+          if ((wi != 0) && cond_on_y && cond_on_x) {
+            float w_ = (wi >> nbits) + ((wi & 0xFFFF) * precision_1);
+            float x_ = ((xi >> nbits) + ((xi & 0xFFFF) * precision_1)) / w_;
+            float y_ = ((yi >> nbits) + ((yi & 0xFFFF) * precision_1)) / w_;
 
             int x = vpMath::round(x_);
             int y = vpMath::round(y_);
@@ -1398,11 +1435,13 @@ void vpImageTools::warpNN(const vpImage<Type> &src, const vpMatrix &T, vpImage<T
     double a7 = affine ? 0.0 : T[2][1];
     double a8 = affine ? 1.0 : T[2][2];
 
-    for (unsigned int i = 0; i < dst.getHeight(); ++i) {
-      for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-        double x = a0 * (centerCorner ? j + 0.5 : j) + a1 * (centerCorner ? i + 0.5 : i) + a2;
-        double y = a3 * (centerCorner ? j + 0.5 : j) + a4 * (centerCorner ? i + 0.5 : i) + a5;
-        double w = a6 * (centerCorner ? j + 0.5 : j) + a7 * (centerCorner ? i + 0.5 : i) + a8;
+    unsigned int dst_height = dst.getHeight();
+    unsigned int dst_width = dst.getWidth();
+    for (unsigned int i = 0; i < dst_height; ++i) {
+      for (unsigned int j = 0; j < dst_width; ++j) {
+        double x = ((a0 * (centerCorner ? j + 0.5 : j)) + (a1 * (centerCorner ? i + 0.5 : i))) + a2;
+        double y = ((a3 * (centerCorner ? j + 0.5 : j)) + (a4 * (centerCorner ? i + 0.5 : i))) + a5;
+        double w = ((a6 * (centerCorner ? j + 0.5 : j)) + (a7 * (centerCorner ? i + 0.5 : i))) + a8;
 
         if (vpMath::nul(w, std::numeric_limits<double>::epsilon())) {
           w = 1.0;
@@ -1411,7 +1450,7 @@ void vpImageTools::warpNN(const vpImage<Type> &src, const vpMatrix &T, vpImage<T
         int x_ = centerCorner ? coordCast(x / w) : vpMath::round(x / w);
         int y_ = centerCorner ? coordCast(y / w) : vpMath::round(y / w);
 
-        if (x_ >= 0 && x_ < static_cast<int>(src.getWidth()) && y_ >= 0 && y_ < static_cast<int>(src.getHeight())) {
+        if ((x_ >= 0) && (x_ < static_cast<int>(src.getWidth())) && (y_ >= 0) && (y_ < static_cast<int>(src.getHeight()))) {
           dst[i][j] = src[y_][x_];
         }
       }
@@ -1423,7 +1462,7 @@ template <class Type>
 void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpImage<Type> &dst, bool affine,
                               bool centerCorner, bool fixedPoint)
 {
-  if (fixedPoint && !centerCorner) {
+  if (fixedPoint && (!centerCorner)) {
     const int nbits = 16;
     const int64_t precision = 1 << nbits;
     const float precision_1 = 1 / static_cast<float>(precision);
@@ -1444,12 +1483,14 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
     int64_t width_i64 = static_cast<int64_t>(src.getWidth() * precision);
 
     if (affine) {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int64_t xi_ = a2_i64;
         int64_t yi_ = a5_i64;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (yi_ >= 0 && yi_ < height_i64 && xi_ >= 0 && xi_ < width_i64) {
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          if ((yi_ >= 0) && (yi_ < height_i64) && (xi_ >= 0) && (xi_ < width_i64)) {
             const int64_t xi_lower = xi_ & (~0xFFFF);
             const int64_t yi_lower = yi_ & (~0xFFFF);
 
@@ -1461,7 +1502,7 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
             const int x_ = static_cast<int>(xi_ >> nbits);
             const int y_ = static_cast<int>(yi_ >> nbits);
 
-            if (y_ < static_cast<int>(src.getHeight()) - 1 && x_ < static_cast<int>(src.getWidth()) - 1) {
+            if ((y_ < (static_cast<int>(src.getHeight()) - 1)) && (x_ < (static_cast<int>(src.getWidth()) - 1))) {
               const Type val00 = src[y_][x_];
               const Type val01 = src[y_][x_ + 1];
               const Type val10 = src[y_ + 1][x_];
@@ -1471,14 +1512,14 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
               const float interp = (interp_i64 >> (nbits * 2)) + (interp_i64 & 0xFFFFFFFF) * precision_2;
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
-            else if (y_ < static_cast<int>(src.getHeight()) - 1) {
+            else if (y_ < (static_cast<int>(src.getHeight()) - 1)) {
               const Type val00 = src[y_][x_];
               const Type val10 = src[y_ + 1][x_];
               const int64_t interp_i64 = static_cast<int64_t>(t_1 * val00 + t * val10);
               const float interp = (interp_i64 >> nbits) + (interp_i64 & 0xFFFF) * precision_1;
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
-            else if (x_ < static_cast<int>(src.getWidth()) - 1) {
+            else if (x_ < (static_cast<int>(src.getWidth()) - 1)) {
               const Type val00 = src[y_][x_];
               const Type val01 = src[y_][x_ + 1];
               const int64_t interp_i64 = static_cast<int64_t>(s_1 * val00 + s * val01);
@@ -1499,17 +1540,22 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
       }
     }
     else {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      int src_height = static_cast<int>(src.getHeight());
+      int src_width = static_cast<int>(src.getWidth());
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int64_t xi = a2_i64;
         int64_t yi = a5_i64;
         int64_t wi = a8_i64;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (wi != 0 && yi >= 0 && yi <= (static_cast<int>(src.getHeight()) - 1) * wi && xi >= 0 &&
-              xi <= (static_cast<int>(src.getWidth()) - 1) * wi) {
-            const float wi_ = (wi >> nbits) + (wi & 0xFFFF) * precision_1;
-            const float xi_ = ((xi >> nbits) + (xi & 0xFFFF) * precision_1) / wi_;
-            const float yi_ = ((yi >> nbits) + (yi & 0xFFFF) * precision_1) / wi_;
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          bool cond_on_y = (yi >= 0) && (yi <= ((src_height - 1) * wi));
+          bool cond_on_x = (xi >= 0) && (xi <= ((src_width - 1) * wi));
+          if ((wi != 0) && cond_on_y && cond_on_x) {
+            const float wi_ = (wi >> nbits) + ((wi & 0xFFFF) * precision_1);
+            const float xi_ = ((xi >> nbits) + ((xi & 0xFFFF) * precision_1)) / wi_;
+            const float yi_ = ((yi >> nbits) + ((yi & 0xFFFF) * precision_1)) / wi_;
 
             const int x_ = static_cast<int>(xi_);
             const int y_ = static_cast<int>(yi_);
@@ -1517,7 +1563,7 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
             const float t = yi_ - y_;
             const float s = xi_ - x_;
 
-            if (y_ < static_cast<int>(src.getHeight()) - 1 && x_ < static_cast<int>(src.getWidth()) - 1) {
+            if ((y_ < (src_height - 1)) && (x_ < (src_width - 1))) {
               const float val00 = static_cast<float>(src[y_][x_]);
               const float val01 = static_cast<float>(src[y_][x_ + 1]);
               const float val10 = static_cast<float>(src[y_ + 1][x_]);
@@ -1527,13 +1573,13 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
               const float interp = lerp(col0, col1, t);
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
-            else if (y_ < static_cast<int>(src.getHeight()) - 1) {
+            else if (y_ < (src_height - 1)) {
               const float val00 = static_cast<float>(src[y_][x_]);
               const float val10 = static_cast<float>(src[y_ + 1][x_]);
               const float interp = lerp(val00, val10, t);
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
-            else if (x_ < static_cast<int>(src.getWidth()) - 1) {
+            else if (x_ < (src_width - 1)) {
               const float val00 = static_cast<float>(src[y_][x_]);
               const float val01 = static_cast<float>(src[y_][x_ + 1]);
               const float interp = lerp(val00, val01, s);
@@ -1566,30 +1612,33 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
     double a7 = affine ? 0.0 : T[2][1];
     double a8 = affine ? 1.0 : T[2][2];
 
-    for (unsigned int i = 0; i < dst.getHeight(); ++i) {
-      for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-        double x = a0 * (centerCorner ? j + 0.5 : j) + a1 * (centerCorner ? i + 0.5 : i) + a2;
-        double y = a3 * (centerCorner ? j + 0.5 : j) + a4 * (centerCorner ? i + 0.5 : i) + a5;
-        double w = a6 * (centerCorner ? j + 0.5 : j) + a7 * (centerCorner ? i + 0.5 : i) + a8;
+    unsigned int dst_height = dst.getHeight();
+    unsigned int dst_width = dst.getWidth();
+    int src_height = static_cast<int>(src.getHeight());
+    int src_width = static_cast<int>(src.getWidth());
+    for (unsigned int i = 0; i < dst_height; ++i) {
+      for (unsigned int j = 0; j < dst_width; ++j) {
+        double x = (a0 * (centerCorner ? (j + 0.5) : j)) + (a1 * (centerCorner ? (i + 0.5) : i)) + a2;
+        double y = (a3 * (centerCorner ? (j + 0.5) : j)) + (a4 * (centerCorner ? (i + 0.5) : i)) + a5;
+        double w = (a6 * (centerCorner ? (j + 0.5) : j)) + (a7 * (centerCorner ? (i + 0.5) : i)) + a8;
         if (vpMath::nul(w, std::numeric_limits<double>::epsilon())) {
           w = 1;
         }
 
-        x = x / w - (centerCorner ? 0.5 : 0);
-        y = y / w - (centerCorner ? 0.5 : 0);
+        x = (x / w) - (centerCorner ? 0.5 : 0);
+        y = (y / w) - (centerCorner ? 0.5 : 0);
 
         int x_lower = static_cast<int>(x);
         int y_lower = static_cast<int>(y);
 
-        if (y_lower >= static_cast<int>(src.getHeight()) || x_lower >= static_cast<int>(src.getWidth()) || y < 0 ||
-            x < 0) {
+        if ((y_lower >= src_height) || (x_lower >= src_width) || (y < 0) || (x < 0)) {
           continue;
         }
 
         double s = x - x_lower;
         double t = y - y_lower;
 
-        if (y_lower < static_cast<int>(src.getHeight()) - 1 && x_lower < static_cast<int>(src.getWidth()) - 1) {
+        if ((y_lower < (src_height - 1)) && (x_lower < (src_width - 1))) {
           const double val00 = static_cast<double>(src[y_lower][x_lower]);
           const double val01 = static_cast<double>(src[y_lower][x_lower + 1]);
           const double val10 = static_cast<double>(src[y_lower + 1][x_lower]);
@@ -1599,13 +1648,13 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
           const double interp = lerp(col0, col1, t);
           dst[i][j] = vpMath::saturate<Type>(interp);
         }
-        else if (y_lower < static_cast<int>(src.getHeight()) - 1) {
+        else if (y_lower < (src_height - 1)) {
           const double val00 = static_cast<double>(src[y_lower][x_lower]);
           const double val10 = static_cast<double>(src[y_lower + 1][x_lower]);
           const double interp = lerp(val00, val10, t);
           dst[i][j] = vpMath::saturate<Type>(interp);
         }
-        else if (x_lower < static_cast<int>(src.getWidth()) - 1) {
+        else if (x_lower < (src_width - 1)) {
           const double val00 = static_cast<double>(src[y_lower][x_lower]);
           const double val01 = static_cast<double>(src[y_lower][x_lower + 1]);
           const double interp = lerp(val00, val01, s);
@@ -1623,7 +1672,7 @@ template <>
 inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix &T, vpImage<vpRGBa> &dst, bool affine,
                                      bool centerCorner, bool fixedPoint)
 {
-  if (fixedPoint && !centerCorner) {
+  if (fixedPoint && (!centerCorner)) {
     const int nbits = 16;
     const int64_t precision = 1 << nbits;
     const float precision_1 = 1 / static_cast<float>(precision);
@@ -1644,12 +1693,16 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
     int64_t width_i64 = static_cast<int64_t>(src.getWidth() * precision);
 
     if (affine) {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      int src_height = static_cast<int>(src.getHeight());
+      int src_width = static_cast<int>(src.getWidth());
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int64_t xi = a2_i64;
         int64_t yi = a5_i64;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (yi >= 0 && yi < height_i64 && xi >= 0 && xi < width_i64) {
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          if ((yi >= 0) && (yi < height_i64) && (xi >= 0) && (xi < width_i64)) {
             const int64_t xi_lower = xi & (~0xFFFF);
             const int64_t yi_lower = yi & (~0xFFFF);
 
@@ -1661,52 +1714,52 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
             const int x_ = static_cast<int>(xi >> nbits);
             const int y_ = static_cast<int>(yi >> nbits);
 
-            if (y_ < static_cast<int>(src.getHeight()) - 1 && x_ < static_cast<int>(src.getWidth()) - 1) {
+            if ((y_ < (src_height - 1)) && (x_ < (src_width - 1))) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val01 = src[y_][x_ + 1];
               const vpRGBa val10 = src[y_ + 1][x_];
               const vpRGBa val11 = src[y_ + 1][x_ + 1];
               const int64_t interpR_i64 =
-                static_cast<int64_t>(s_1 * t_1 * val00.R + s * t_1 * val01.R + s_1 * t * val10.R + s * t * val11.R);
-              const float interpR = (interpR_i64 >> (nbits * 2)) + (interpR_i64 & 0xFFFFFFFF) * precision_2;
+                static_cast<int64_t>((s_1 * t_1 * val00.R) + (s * t_1 * val01.R) + (s_1 * t * val10.R) + (s * t * val11.R));
+              const float interpR = (interpR_i64 >> (nbits * 2)) + ((interpR_i64 & 0xFFFFFFFF) * precision_2);
 
               const int64_t interpG_i64 =
-                static_cast<int64_t>(s_1 * t_1 * val00.G + s * t_1 * val01.G + s_1 * t * val10.G + s * t * val11.G);
-              const float interpG = (interpG_i64 >> (nbits * 2)) + (interpG_i64 & 0xFFFFFFFF) * precision_2;
+                static_cast<int64_t>((s_1 * t_1 * val00.G) + (s * t_1 * val01.G) + (s_1 * t * val10.G) + (s * t * val11.G));
+              const float interpG = (interpG_i64 >> (nbits * 2)) + ((interpG_i64 & 0xFFFFFFFF) * precision_2);
 
               const int64_t interpB_i64 =
-                static_cast<int64_t>(s_1 * t_1 * val00.B + s * t_1 * val01.B + s_1 * t * val10.B + s * t * val11.B);
-              const float interpB = (interpB_i64 >> (nbits * 2)) + (interpB_i64 & 0xFFFFFFFF) * precision_2;
+                static_cast<int64_t>((s_1 * t_1 * val00.B) + (s * t_1 * val01.B) + (s_1 * t * val10.B) + (s * t * val11.B));
+              const float interpB = (interpB_i64 >> (nbits * 2)) + ((interpB_i64 & 0xFFFFFFFF) * precision_2);
 
               dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                  vpMath::saturate<unsigned char>(interpB), 255);
             }
-            else if (y_ < static_cast<int>(src.getHeight()) - 1) {
+            else if (y_ < (src_height - 1)) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val10 = src[y_ + 1][x_];
               const int64_t interpR_i64 = static_cast<int64_t>(t_1 * val00.R + t * val10.R);
-              const float interpR = (interpR_i64 >> nbits) + (interpR_i64 & 0xFFFF) * precision_1;
+              const float interpR = (interpR_i64 >> nbits) + ((interpR_i64 & 0xFFFF) * precision_1);
 
-              const int64_t interpG_i64 = static_cast<int64_t>(t_1 * val00.G + t * val10.G);
-              const float interpG = (interpG_i64 >> nbits) + (interpG_i64 & 0xFFFF) * precision_1;
+              const int64_t interpG_i64 = static_cast<int64_t>((t_1 * val00.G) + (t * val10.G));
+              const float interpG = (interpG_i64 >> nbits) + ((interpG_i64 & 0xFFFF) * precision_1);
 
-              const int64_t interpB_i64 = static_cast<int64_t>(t_1 * val00.B + t * val10.B);
-              const float interpB = (interpB_i64 >> nbits) + (interpB_i64 & 0xFFFF) * precision_1;
+              const int64_t interpB_i64 = static_cast<int64_t>((t_1 * val00.B) + (t * val10.B));
+              const float interpB = (interpB_i64 >> nbits) + ((interpB_i64 & 0xFFFF) * precision_1);
 
               dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                  vpMath::saturate<unsigned char>(interpB), 255);
             }
-            else if (x_ < static_cast<int>(src.getWidth()) - 1) {
+            else if (x_ < (src_width - 1)) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val01 = src[y_][x_ + 1];
-              const int64_t interpR_i64 = static_cast<int64_t>(s_1 * val00.R + s * val01.R);
-              const float interpR = (interpR_i64 >> nbits) + (interpR_i64 & 0xFFFF) * precision_1;
+              const int64_t interpR_i64 = static_cast<int64_t>((s_1 * val00.R) + (s * val01.R));
+              const float interpR = (interpR_i64 >> nbits) + ((interpR_i64 & 0xFFFF) * precision_1);
 
-              const int64_t interpG_i64 = static_cast<int64_t>(s_1 * val00.G + s * val01.G);
-              const float interpG = (interpG_i64 >> nbits) + (interpG_i64 & 0xFFFF) * precision_1;
+              const int64_t interpG_i64 = static_cast<int64_t>((s_1 * val00.G) + (s * val01.G));
+              const float interpG = (interpG_i64 >> nbits) + ((interpG_i64 & 0xFFFF) * precision_1);
 
-              const int64_t interpB_i64 = static_cast<int64_t>(s_1 * val00.B + s * val01.B);
-              const float interpB = (interpB_i64 >> nbits) + (interpB_i64 & 0xFFFF) * precision_1;
+              const int64_t interpB_i64 = static_cast<int64_t>((s_1 * val00.B) + (s * val01.B));
+              const float interpB = (interpB_i64 >> nbits) + ((interpB_i64 & 0xFFFF) * precision_1);
 
               dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                  vpMath::saturate<unsigned char>(interpB), 255);
@@ -1725,17 +1778,21 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
       }
     }
     else {
-      for (unsigned int i = 0; i < dst.getHeight(); ++i) {
+      unsigned int dst_height = dst.getHeight();
+      unsigned int dst_width = dst.getWidth();
+      int src_height = static_cast<int>(src.getHeight());
+      int src_width = static_cast<int>(src.getWidth());
+      for (unsigned int i = 0; i < dst_height; ++i) {
         int64_t xi = a2_i64;
         int64_t yi = a5_i64;
         int64_t wi = a8_i64;
 
-        for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-          if (yi >= 0 && yi <= (static_cast<int>(src.getHeight()) - 1) * wi && xi >= 0 &&
-              xi <= (static_cast<int>(src.getWidth()) - 1) * wi) {
-            const float wi_ = (wi >> nbits) + (wi & 0xFFFF) * precision_1;
-            const float xi_ = ((xi >> nbits) + (xi & 0xFFFF) * precision_1) / wi_;
-            const float yi_ = ((yi >> nbits) + (yi & 0xFFFF) * precision_1) / wi_;
+        for (unsigned int j = 0; j < dst_width; ++j) {
+          if ((yi >= 0) && (yi <= ((src_height - 1) * wi)) && (xi >= 0) &&
+              (xi <= ((src_width - 1) * wi))) {
+            const float wi_ = (wi >> nbits) + ((wi & 0xFFFF) * precision_1);
+            const float xi_ = ((xi >> nbits) + ((xi & 0xFFFF) * precision_1)) / wi_;
+            const float yi_ = ((yi >> nbits) + ((yi & 0xFFFF) * precision_1)) / wi_;
 
             const int x_ = static_cast<int>(xi_);
             const int y_ = static_cast<int>(yi_);
@@ -1743,7 +1800,7 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
             const float t = yi_ - y_;
             const float s = xi_ - x_;
 
-            if (y_ < static_cast<int>(src.getHeight()) - 1 && x_ < static_cast<int>(src.getWidth()) - 1) {
+            if ((y_ < (src_height - 1)) && (x_ < (src_width - 1))) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val01 = src[y_][x_ + 1];
               const vpRGBa val10 = src[y_ + 1][x_];
@@ -1763,7 +1820,7 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
               dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                  vpMath::saturate<unsigned char>(interpB), 255);
             }
-            else if (y_ < static_cast<int>(src.getHeight()) - 1) {
+            else if (y_ < (src_height - 1)) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val10 = src[y_ + 1][x_];
               const float interpR = lerp(val00.R, val10.R, t);
@@ -1773,7 +1830,7 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
               dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                  vpMath::saturate<unsigned char>(interpB), 255);
             }
-            else if (x_ < static_cast<int>(src.getWidth()) - 1) {
+            else if (x_ < (src_width - 1)) {
               const vpRGBa val00 = src[y_][x_];
               const vpRGBa val01 = src[y_][x_ + 1];
               const float interpR = lerp(val00.R, val01.R, s);
@@ -1810,27 +1867,30 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
     double a7 = affine ? 0.0 : T[2][1];
     double a8 = affine ? 1.0 : T[2][2];
 
-    for (unsigned int i = 0; i < dst.getHeight(); ++i) {
-      for (unsigned int j = 0; j < dst.getWidth(); ++j) {
-        double x = a0 * (centerCorner ? j + 0.5 : j) + a1 * (centerCorner ? i + 0.5 : i) + a2;
-        double y = a3 * (centerCorner ? j + 0.5 : j) + a4 * (centerCorner ? i + 0.5 : i) + a5;
-        double w = a6 * (centerCorner ? j + 0.5 : j) + a7 * (centerCorner ? i + 0.5 : i) + a8;
+    unsigned int dst_height = dst.getHeight();
+    unsigned int dst_width = dst.getWidth();
+    int src_height = static_cast<int>(src.getHeight());
+    int src_width = static_cast<int>(src.getWidth());
+    for (unsigned int i = 0; i < dst_height; ++i) {
+      for (unsigned int j = 0; j < dst_width; ++j) {
+        double x = (a0 * (centerCorner ? (j + 0.5) : j)) + (a1 * (centerCorner ? (i + 0.5) : i)) + a2;
+        double y = (a3 * (centerCorner ? (j + 0.5) : j)) + (a4 * (centerCorner ? (i + 0.5) : i)) + a5;
+        double w = (a6 * (centerCorner ? (j + 0.5) : j)) + (a7 * (centerCorner ? (i + 0.5) : i)) + a8;
 
-        x = x / w - (centerCorner ? 0.5 : 0);
-        y = y / w - (centerCorner ? 0.5 : 0);
+        x = (x / w) - (centerCorner ? 0.5 : 0);
+        y = (y / w) - (centerCorner ? 0.5 : 0);
 
         int x_lower = static_cast<int>(x);
         int y_lower = static_cast<int>(y);
 
-        if (y_lower >= static_cast<int>(src.getHeight()) || x_lower >= static_cast<int>(src.getWidth()) || y < 0 ||
-            x < 0) {
+        if ((y_lower >= src_height) || (x_lower >= src_width) || (y < 0) || (x < 0)) {
           continue;
         }
 
         double s = x - x_lower;
         double t = y - y_lower;
 
-        if (y_lower < static_cast<int>(src.getHeight()) - 1 && x_lower < static_cast<int>(src.getWidth()) - 1) {
+        if ((y_lower < (src_height - 1)) && (x_lower < (src_width - 1))) {
           const vpRGBa val00 = src[y_lower][x_lower];
           const vpRGBa val01 = src[y_lower][x_lower + 1];
           const vpRGBa val10 = src[y_lower + 1][x_lower];
@@ -1850,7 +1910,7 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
           dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                              vpMath::saturate<unsigned char>(interpB), 255);
         }
-        else if (y_lower < static_cast<int>(src.getHeight()) - 1) {
+        else if (y_lower < (src_height - 1)) {
           const vpRGBa val00 = src[y_lower][x_lower];
           const vpRGBa val10 = src[y_lower + 1][x_lower];
           const double interpR = lerp(val00.R, val10.R, t);
@@ -1860,7 +1920,7 @@ inline void vpImageTools::warpLinear(const vpImage<vpRGBa> &src, const vpMatrix
           dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                              vpMath::saturate<unsigned char>(interpB), 255);
         }
-        else if (x_lower < static_cast<int>(src.getWidth()) - 1) {
+        else if (x_lower < (src_width - 1)) {
           const vpRGBa val00 = src[y_lower][x_lower];
           const vpRGBa val01 = src[y_lower][x_lower + 1];
           const double interpR = lerp(val00.R, val01.R, s);
diff --git a/modules/core/include/visp3/core/vpList.h b/modules/core/include/visp3/core/vpList.h
index 16528f03e9..ac5ce23642 100644
--- a/modules/core/include/visp3/core/vpList.h
+++ b/modules/core/include/visp3/core/vpList.h
@@ -53,6 +53,7 @@
 */
 template <class type> class vpListElement
 {
+  /*
   // private:
   //  vpListElement(const vpListElement &)
   //    : prev(nullptr), next(nullptr), val()
@@ -64,7 +65,7 @@ template <class type> class vpListElement
   //    throw vpException(vpException::functionNotImplementedError,"Not
   //    implemented!"); return *this;
   //  }
-
+  */
 public:
   vpListElement() : prev(nullptr), next(nullptr), val() { };
   vpListElement<type> *prev; ///! pointer to the previous element in the list
@@ -226,12 +227,12 @@ template <class type> vpList<type>::~vpList()
 /*!
   \brief return the number of element in the list
  */
-template <class type> unsigned int vpList<type>::nbElement(void) { return (nb); }
+template <class type> unsigned int vpList<type>::nbElement(void) { return nb; }
 
 /*!
   \brief return the number of element in the list
  */
-template <class type> unsigned int vpList<type>::nbElements(void) { return (nb); }
+template <class type> unsigned int vpList<type>::nbElements(void) { return nb; }
 
 /*!
   \brief position the current element on the next one
@@ -395,8 +396,9 @@ template <class type> void vpList<type>::addRight(const type &v)
     cur = first;
   }
   else {
-    if (outside())
+    if (outside()) {
       std::cout << "vpList: outside with addRight " << std::endl;
+    }
   }
   cur->next->prev = x;
   x->next = cur->next;
@@ -426,15 +428,16 @@ template <class type> void vpList<type>::addLeft(const type &v)
     cur = last;
   }
   else {
-    if (outside())
+    if (outside()) {
       std::cout << "vpList: outside with addLeft " << std::endl;
+    }
   }
   x->next = cur;
   x->prev = cur->prev;
   cur->prev->next = x;
   cur->prev = x;
   cur = x;
-  nb++;
+  ++nb;
 }
 
 /*!
@@ -456,15 +459,16 @@ template <class type> void vpList<type>::addRight(type &v)
     cur = first;
   }
   else {
-    if (outside())
+    if (outside()) {
       std::cout << "vpList: outside with addRight " << std::endl;
+    }
   }
   cur->next->prev = x;
   x->next = cur->next;
   x->prev = cur;
   cur->next = x;
   cur = x;
-  nb++;
+  ++nb;
 }
 
 /*!
@@ -487,15 +491,16 @@ template <class type> void vpList<type>::addLeft(type &v)
     cur = last;
   }
   else {
-    if (outside())
+    if (outside()) {
       std::cout << "vpList: outside with addLeft " << std::endl;
+    }
   }
   x->next = cur;
   x->prev = cur->prev;
   cur->prev->next = x;
   cur->prev = x;
   cur = x;
-  nb++;
+  ++nb;
 }
 
 /*!
@@ -610,7 +615,7 @@ template <class type> void vpList<type>::suppress(void)
     delete x;
   }
 
-  nb--;
+  --nb;
 }
 
 /*!
@@ -695,7 +700,7 @@ template <class type> void vpList<type>::display()
   while (!outside()) {
     std::cout << k << " ---> " << value() << std::endl;
     next();
-    k++;
+    ++k;
   }
   std::cout << std::endl << std::endl;
 }
diff --git a/modules/core/include/visp3/core/vpMath.h b/modules/core/include/visp3/core/vpMath.h
index 2c2c11b898..51144d17d0 100644
--- a/modules/core/include/visp3/core/vpMath.h
+++ b/modules/core/include/visp3/core/vpMath.h
@@ -175,7 +175,7 @@ class VISP_EXPORT vpMath
   static float modulo(const float &value, const float &modulo)
   {
     float quotient = std::floor(value / modulo);
-    float rest = value - quotient * modulo;
+    float rest = value - (quotient * modulo);
     return rest;
   }
 
@@ -190,7 +190,7 @@ class VISP_EXPORT vpMath
   static double modulo(const double &value, const double &modulo)
   {
     double quotient = std::floor(value / modulo);
-    double rest = value - quotient * modulo;
+    double rest = value - (quotient * modulo);
     return rest;
   }
 
@@ -373,8 +373,9 @@ class VISP_EXPORT vpMath
 */
 double vpMath::fact(unsigned int x)
 {
-  if ((x == 1) || (x == 0))
+  if ((x == 1) || (x == 0)) {
     return 1;
+  }
   return x * fact(x - 1);
 }
 
@@ -388,8 +389,9 @@ double vpMath::fact(unsigned int x)
 */
 long double vpMath::comb(unsigned int n, unsigned int p)
 {
-  if (n == p)
+  if (n == p) {
     return 1;
+  }
   return fact(n) / (fact(n - p) * fact(p));
 }
 
@@ -421,13 +423,16 @@ int vpMath::round(double x)
 */
 int vpMath::sign(double x)
 {
-  if (fabs(x) < std::numeric_limits<double>::epsilon())
+  if (fabs(x) < std::numeric_limits<double>::epsilon()) {
     return 0;
+  }
   else {
-    if (x < 0)
+    if (x < 0) {
       return -1;
-    else
+    }
+    else {
       return 1;
+    }
   }
 }
 
@@ -470,13 +475,15 @@ bool vpMath::greater(double x, double y, double threshold) { return (x > (y - th
  */
 double vpMath::sigmoid(double x, double x0, double x1, double n)
 {
-  if (x < x0)
+  if (x < x0) {
     return 0.;
-  else if (x > x1)
+  }
+  else if (x > x1) {
     return 1.;
+  }
   double l0 = 1. / (1. + exp(0.5 * n));
   double l1 = 1. / (1. + exp(-0.5 * n));
-  return (1. / (1. + exp(-n * ((x - x0) / (x1 - x0) - 0.5))) - l0) / (l1 - l0);
+  return ((1. / (1. + exp(-n * (((x - x0) / (x1 - x0)) - 0.5)))) - l0) / (l1 - l0);
 }
 
 // unsigned char
@@ -487,10 +494,12 @@ template <> inline unsigned char vpMath::saturate<unsigned char>(char v)
   // leading to (int)(char -127) = 129.
   // On little endian arch, CHAR_MIN=-127 and CHAR_MAX=128 leading to
   // (int)(char -127) = -127.
-  if (std::numeric_limits<char>::is_signed)
+  if (std::numeric_limits<char>::is_signed) {
     return static_cast<unsigned char>(std::max<int>(static_cast<int>(v), 0));
-  else
+  }
+  else {
     return static_cast<unsigned char>(static_cast<unsigned int>(v) > SCHAR_MAX ? 0 : v);
+  }
 }
 
 template <> inline unsigned char vpMath::saturate<unsigned char>(unsigned short v)
@@ -571,10 +580,12 @@ template <> inline unsigned short vpMath::saturate<unsigned short>(char v)
   // leading to (int)(char -127) = 129.
   // On little endian arch, CHAR_MIN=-127 and CHAR_MAX=128 leading to
   // (int)(char -127) = -127.
-  if (std::numeric_limits<char>::is_signed)
+  if (std::numeric_limits<char>::is_signed) {
     return static_cast<unsigned short>(std::max<int>(static_cast<int>(v), 0));
-  else
+  }
+  else {
     return static_cast<unsigned short>(static_cast<unsigned int>(v) > SCHAR_MAX ? 0 : v);
+  }
 }
 
 template <> inline unsigned short vpMath::saturate<unsigned short>(short v)
diff --git a/modules/core/include/visp3/core/vpMatrix.h b/modules/core/include/visp3/core/vpMatrix.h
index a2151f7498..c3cbf90f62 100644
--- a/modules/core/include/visp3/core/vpMatrix.h
+++ b/modules/core/include/visp3/core/vpMatrix.h
@@ -217,7 +217,9 @@ class VISP_EXPORT vpMatrix : public vpArray2D<double>
       free(rowPtrs);
       rowPtrs = nullptr;
     }
-    rowNum = colNum = dsize = 0;
+    rowNum = 0;
+    colNum = 0;
+    dsize = 0;
   }
 
   //-------------------------------------------------
@@ -269,7 +271,7 @@ class VISP_EXPORT vpMatrix : public vpArray2D<double>
   //---------------------------------
   /** @name Assignment operators */
   //@{
-  vpMatrix &operator<<(double *);
+  vpMatrix &operator<<(double *p);
   vpMatrix &operator<<(double val);
   vpMatrix &operator,(double val);
   vpMatrix &operator=(const vpArray2D<double> &A);
diff --git a/modules/core/include/visp3/core/vpMeterPixelConversion.h b/modules/core/include/visp3/core/vpMeterPixelConversion.h
index 0334b69d39..23f14744d2 100644
--- a/modules/core/include/visp3/core/vpMeterPixelConversion.h
+++ b/modules/core/include/visp3/core/vpMeterPixelConversion.h
@@ -114,35 +114,37 @@ class VISP_EXPORT vpMeterPixelConversion
     case vpCameraParameters::ProjWithKannalaBrandtDistortion:
       convertPointWithKannalaBrandtDistortion(cam, x, y, u, v);
       break;
+    default:
+      std::cerr << "projection model not identified" << std::endl;
     }
   }
 
-  /*!
+ /*!
 
-    Point coordinates conversion from normalized coordinates
-    \f$(x,y)\f$ in meter in the image plane to pixel coordinates in the image using ViSP camera parameters.
+   Point coordinates conversion from normalized coordinates
+   \f$(x,y)\f$ in meter in the image plane to pixel coordinates in the image using ViSP camera parameters.
 
-    The used formula depends on the projection model of the camera. To
-    know the currently used projection model use
-    vpCameraParameter::get_projModel()
+   The used formula depends on the projection model of the camera. To
+   know the currently used projection model use
+   vpCameraParameter::get_projModel()
 
-    \param[in] cam : camera parameters.
-    \param[in] x : input coordinate in meter along image plane x-axis.
-    \param[in] y : input coordinate in meter along image plane y-axis.
-    \param[out] iP : output coordinates in pixels.
+   \param[in] cam : camera parameters.
+   \param[in] x : input coordinate in meter along image plane x-axis.
+   \param[in] y : input coordinate in meter along image plane y-axis.
+   \param[out] iP : output coordinates in pixels.
 
-    In the frame (u,v) the result is given by:
+   In the frame (u,v) the result is given by:
 
-    \f$ u = x*p_x + u_0 \f$ and  \f$ v = y*p_y + v_0 \f$ in the case of
-    perspective projection without distortion.
+   \f$ u = x*p_x + u_0 \f$ and  \f$ v = y*p_y + v_0 \f$ in the case of
+   perspective projection without distortion.
 
-    \f$ u = x*p_x*(1+k_{ud}*r^2)+u_0 \f$ and  \f$ v = y*p_y*(1+k_{ud}*r^2)+v_0
-    \f$ with \f$ r^2 = x^2+y^2 \f$ in the  case of perspective projection with
-    distortion.
+   \f$ u = x*p_x*(1+k_{ud}*r^2)+u_0 \f$ and  \f$ v = y*p_y*(1+k_{ud}*r^2)+v_0
+   \f$ with \f$ r^2 = x^2+y^2 \f$ in the  case of perspective projection with
+   distortion.
 
-    In the case of a projection with Kannala-Brandt distortion, refer to
-    \cite KannalaBrandt.
-  */
+   In the case of a projection with Kannala-Brandt distortion, refer to
+   \cite KannalaBrandt.
+ */
 
   inline static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, vpImagePoint &iP)
   {
@@ -156,6 +158,8 @@ class VISP_EXPORT vpMeterPixelConversion
     case vpCameraParameters::ProjWithKannalaBrandtDistortion:
       convertPointWithKannalaBrandtDistortion(cam, x, y, iP);
       break;
+    default:
+      std::cerr << "projection model not identified" << std::endl;
     }
   }
 
@@ -172,8 +176,8 @@ class VISP_EXPORT vpMeterPixelConversion
   inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                    double &u, double &v)
   {
-    u = x * cam.m_px + cam.m_u0;
-    v = y * cam.m_py + cam.m_v0;
+    u = (x * cam.m_px) + cam.m_u0;
+    v = (y * cam.m_py) + cam.m_v0;
   }
 
   /*!
@@ -189,8 +193,8 @@ class VISP_EXPORT vpMeterPixelConversion
   inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                    vpImagePoint &iP)
   {
-    iP.set_u(x * cam.m_px + cam.m_u0);
-    iP.set_v(y * cam.m_py + cam.m_v0);
+    iP.set_u((x * cam.m_px) + cam.m_u0);
+    iP.set_v((y * cam.m_py) + cam.m_v0);
   }
 
   /*!
@@ -212,9 +216,9 @@ class VISP_EXPORT vpMeterPixelConversion
   inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                 double &u, double &v)
   {
-    double r2 = 1. + cam.m_kud * (x * x + y * y);
-    u = cam.m_u0 + cam.m_px * x * r2;
-    v = cam.m_v0 + cam.m_py * y * r2;
+    double r2 = 1. + (cam.m_kud * ((x * x) + (y * y)));
+    u = cam.m_u0 + (cam.m_px * x * r2);
+    v = cam.m_v0 + (cam.m_py * y * r2);
   }
 
   /*!
@@ -236,9 +240,9 @@ class VISP_EXPORT vpMeterPixelConversion
   inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                 vpImagePoint &iP)
   {
-    double r2 = 1. + cam.m_kud * (x * x + y * y);
-    iP.set_u(cam.m_u0 + cam.m_px * x * r2);
-    iP.set_v(cam.m_v0 + cam.m_py * y * r2);
+    double r2 = 1. + (cam.m_kud * ((x * x) + (y * y)));
+    iP.set_u(cam.m_u0 + (cam.m_px * x * r2));
+    iP.set_v(cam.m_v0 + (cam.m_py * y * r2));
   }
 
   /*!
@@ -274,15 +278,15 @@ class VISP_EXPORT vpMeterPixelConversion
     double theta2 = theta * theta, theta3 = theta2 * theta, theta4 = theta2 * theta2, theta5 = theta4 * theta,
       theta6 = theta3 * theta3, theta7 = theta6 * theta, theta8 = theta4 * theta4, theta9 = theta8 * theta;
 
-    double r_d = theta + k[0] * theta3 + k[1] * theta5 + k[2] * theta7 + k[3] * theta9;
+    double r_d = theta + (k[0] * theta3) + (k[1] * theta5) + (k[2] * theta7) + (k[3] * theta9);
 
-    double scale = (std::fabs(r) < std::numeric_limits<double>::epsilon()) ? 1.0 : r_d / r;
+    double scale = (std::fabs(r) < std::numeric_limits<double>::epsilon()) ? 1.0 : (r_d / r);
 
     double x_d = x * scale;
     double y_d = y * scale;
 
-    u = cam.m_px * x_d + cam.m_u0;
-    v = cam.m_py * y_d + cam.m_v0;
+    u = (cam.m_px * x_d) + cam.m_u0;
+    v = (cam.m_py * y_d) + cam.m_v0;
   }
 
   /*!
@@ -324,8 +328,8 @@ class VISP_EXPORT vpMeterPixelConversion
     double x_d = x * scale;
     double y_d = y * scale;
 
-    iP.set_u(cam.m_px * x_d + cam.m_u0);
-    iP.set_v(cam.m_py * y_d + cam.m_v0);
+    iP.set_u((cam.m_px * x_d) + cam.m_u0);
+    iP.set_v((cam.m_py * y_d) + cam.m_v0);
   }
 
 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
diff --git a/modules/core/include/visp3/core/vpPixelMeterConversion.h b/modules/core/include/visp3/core/vpPixelMeterConversion.h
index 13257c139e..5531eb231e 100644
--- a/modules/core/include/visp3/core/vpPixelMeterConversion.h
+++ b/modules/core/include/visp3/core/vpPixelMeterConversion.h
@@ -111,6 +111,8 @@ class VISP_EXPORT vpPixelMeterConversion
     case vpCameraParameters::ProjWithKannalaBrandtDistortion:
       convertPointWithKannalaBrandtDistortion(cam, u, v, x, y);
       break;
+    default:
+      std::cerr << "projection model not identified" << std::endl;
     }
   }
 
@@ -153,6 +155,8 @@ class VISP_EXPORT vpPixelMeterConversion
     case vpCameraParameters::ProjWithKannalaBrandtDistortion:
       convertPointWithKannalaBrandtDistortion(cam, iP, x, y);
       break;
+    default:
+      std::cerr << "projection model not identified" << std::endl;
     }
   }
 
@@ -215,7 +219,7 @@ class VISP_EXPORT vpPixelMeterConversion
   inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &u, const double &v,
                                                 double &x, double &y)
   {
-    double r2 = 1. + cam.m_kdu * (vpMath::sqr((u - cam.m_u0) * cam.m_inv_px) + vpMath::sqr((v - cam.m_v0) * cam.m_inv_py));
+    double r2 = 1. + (cam.m_kdu * (vpMath::sqr((u - cam.m_u0) * cam.m_inv_px) + vpMath::sqr((v - cam.m_v0) * cam.m_inv_py)));
     x = (u - cam.m_u0) * r2 * cam.m_inv_px;
     y = (v - cam.m_v0) * r2 * cam.m_inv_py;
   }
@@ -239,8 +243,8 @@ class VISP_EXPORT vpPixelMeterConversion
   inline static void convertPointWithDistortion(const vpCameraParameters &cam, const vpImagePoint &iP, double &x,
                                                 double &y)
   {
-    double r2 = 1. + cam.m_kdu * (vpMath::sqr((iP.get_u() - cam.m_u0) * cam.m_inv_px) +
-                                vpMath::sqr((iP.get_v() - cam.m_v0) * cam.m_inv_py));
+    double r2 = 1. + (cam.m_kdu * (vpMath::sqr((iP.get_u() - cam.m_u0) * cam.m_inv_px) +
+                                   vpMath::sqr((iP.get_v() - cam.m_v0) * cam.m_inv_py)));
     x = (iP.get_u() - cam.m_u0) * r2 * cam.m_inv_px;
     y = (iP.get_v() - cam.m_v0) * r2 * cam.m_inv_py;
   }
@@ -286,12 +290,15 @@ class VISP_EXPORT vpPixelMeterConversion
         double theta2 = theta * theta, theta4 = theta2 * theta2, theta6 = theta4 * theta2, theta8 = theta6 * theta2;
         double k0_theta2 = k[0] * theta2, k1_theta4 = k[1] * theta4, k2_theta6 = k[2] * theta6,
           k3_theta8 = k[3] * theta8;
-   /* new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta) */
+          /*
+          // new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta)
+          */
         double theta_fix = (theta * (1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8) - r_d) /
           (1 + 3 * k0_theta2 + 5 * k1_theta4 + 7 * k2_theta6 + 9 * k3_theta8);
         theta = theta - theta_fix;
-        if (fabs(theta_fix) < EPS)
+        if (fabs(theta_fix) < EPS) {
           break;
+        }
       }
 
       scale = std::tan(theta) / r_d; // Scale of norm of (x,y) and (x_d, y_d)
@@ -341,9 +348,11 @@ class VISP_EXPORT vpPixelMeterConversion
         double theta2 = theta * theta, theta4 = theta2 * theta2, theta6 = theta4 * theta2, theta8 = theta6 * theta2;
         double k0_theta2 = k[0] * theta2, k1_theta4 = k[1] * theta4, k2_theta6 = k[2] * theta6,
           k3_theta8 = k[3] * theta8;
-   /* new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta) */
-        double theta_fix = (theta * (1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8) - r_d) /
-          (1 + 3 * k0_theta2 + 5 * k1_theta4 + 7 * k2_theta6 + 9 * k3_theta8);
+        /*
+          // new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta)
+        */
+        double theta_fix = ((theta * (1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8)) - r_d) /
+          (1 + (3 * k0_theta2) + (5 * k1_theta4) + (7 * k2_theta6) + (9 * k3_theta8));
         theta = theta - theta_fix;
         if (fabs(theta_fix) < EPS)
           break;
diff --git a/modules/core/include/visp3/core/vpRansac.h b/modules/core/include/visp3/core/vpRansac.h
index cd9af76540..2be17d461c 100644
--- a/modules/core/include/visp3/core/vpRansac.h
+++ b/modules/core/include/visp3/core/vpRansac.h
@@ -107,9 +107,11 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
                                         vpColVector &M, vpColVector &inliers, int consensus, double not_used,
                                         int maxNbumbersOfTrials, double *residual)
 {
-  /*   bool isplanar; */
-  /*   if (s == 4) isplanar = true; */
-  /*   else isplanar = false; */
+  /*
+  // bool isplanar;
+  //   if (s == 4) isplanar = true;
+  //   else isplanar = false;
+  */
   (void)not_used;
   double eps = 1e-6;
   double p = 0.99; // Desired probability of choosing at least one sample
@@ -119,8 +121,9 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
   int maxDataTrials = 1000;            // Max number of attempts to select a non-degenerate
   // data set.
 
-  if (s < 4)
+  if (s < 4) {
     s = 4;
+  }
 
   // Sentinel value allowing detection of solution failure.
   bool solutionFind = false;
@@ -129,7 +132,7 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
   int bestscore = -1;
   double N = 1; // Dummy initialisation for number of trials.
 
-  vpUniRand random((const long)time(nullptr));
+  vpUniRand random(static_cast<long>(time(nullptr)));
   vpColVector bestinliers;
   unsigned int *ind = new unsigned int[s];
   int ninliers = 0;
@@ -150,8 +153,9 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
 
       // Test that these points are not a degenerate configuration.
       degenerate = vpTransformation::degenerateConfiguration(x, ind);
+      /*
       //   degenerate = feval(degenfn, x(:,ind));
-
+      */
       // Safeguard against being stuck in this loop forever
       count = count + 1;
 
@@ -159,7 +163,9 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
         delete[] ind;
         vpERROR_TRACE("Unable to select a nondegenerate data set");
         throw(vpException(vpException::fatalError, "Unable to select a non degenerate data set"));
+        /*
         // return false; //Useless after a throw() function
+        */
       }
     }
     // Fit model to this random selection of data points.
@@ -178,13 +184,14 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
       double resid = fabs(d[i]);
       if (resid < t) {
         inliers[i] = 1;
-        ninliers++;
+        ++ninliers;
         if (residual != nullptr) {
           *residual += fabs(d[i]);
         }
       }
-      else
+      else {
         inliers[i] = 0;
+      }
     }
 
     if (ninliers > bestscore) // Largest set of inliers so far...
@@ -197,7 +204,7 @@ bool vpRansac<vpTransformation>::ransac(unsigned int npts, const vpColVector &x,
       // Update estimate of N, the number of trials to ensure we pick,
       // with probability p, a data set with no outliers.
 
-      double fracinliers = (double)ninliers / (double)npts;
+      double fracinliers = static_cast<double>(ninliers) / static_cast<double>(npts);
 
       double pNoOutliers = 1 - pow(fracinliers, static_cast<int>(s));
 
diff --git a/modules/core/include/visp3/core/vpRect.h b/modules/core/include/visp3/core/vpRect.h
index 5531af3a9d..207720d00e 100644
--- a/modules/core/include/visp3/core/vpRect.h
+++ b/modules/core/include/visp3/core/vpRect.h
@@ -91,7 +91,7 @@ class VISP_EXPORT vpRect
     Returns the bottom coordinate of the rectangle.
     \sa getRight()
   */
-  inline double getBottom() const { return (this->top + this->height - 1.0); }
+  inline double getBottom() const { return ((this->top + this->height) - 1.0); }
 
   /*!
     Returns the bottom-left position of the rectangle.
@@ -132,8 +132,8 @@ class VISP_EXPORT vpRect
   */
   inline void getCenter(double &x, double &y) const
   {
-    x = this->left + this->width / 2.0 - 0.5;
-    y = this->top + this->height / 2.0 - 0.5;
+    x = (this->left + (this->width / 2.0)) - 0.5;
+    y = (this->top + (this->height / 2.0)) - 0.5;
   }
 
   /*!
@@ -149,8 +149,8 @@ class VISP_EXPORT vpRect
   inline vpImagePoint getCenter() const
   {
     vpImagePoint center;
-    center.set_u(this->left + this->width / 2.0 - 0.5);
-    center.set_v(this->top + this->height / 2.0 - 0.5);
+    center.set_u((this->left + (this->width / 2.0)) - 0.5);
+    center.set_v((this->top + (this->height / 2.0)) - 0.5);
     return center;
   }
 
@@ -173,7 +173,7 @@ class VISP_EXPORT vpRect
     Returns the right coordinate of the rectangle.
     \sa getLeft()
   */
-  inline double getRight() const { return (this->left + this->width - 1.0); }
+  inline double getRight() const { return ((this->left + this->width) - 1.0); }
 
   /*!
     Returns the size of the rectangle.
@@ -246,7 +246,7 @@ class VISP_EXPORT vpRect
     left = x1;
     top = y1;
 
-    if (width <= 0 || height <= 0) {
+    if ((width <= 0) || (height <= 0)) {
       *this = vpRect();
     }
 
@@ -282,7 +282,7 @@ class VISP_EXPORT vpRect
 
     \sa setTop()
   */
-  inline void setBottom(double pos) { this->height = pos - this->top + 1.0; }
+  inline void setBottom(double pos) { this->height = (pos - this->top) + 1.0; }
 
   /*!
     Sets the bottom-right position of the rectangle. Will never change
@@ -292,8 +292,8 @@ class VISP_EXPORT vpRect
   */
   inline void setBottomRight(const vpImagePoint &bottomRight)
   {
-    this->height = bottomRight.get_v() - this->top + 1.0;
-    this->width = bottomRight.get_u() - this->left + 1.0;
+    this->height = (bottomRight.get_v() - this->top) + 1.0;
+    this->width = (bottomRight.get_u() - this->left) + 1.0;
   }
 
   /*!
@@ -386,8 +386,8 @@ class VISP_EXPORT vpRect
   */
   inline void moveCenter(double x, double y)
   {
-    this->left = x - this->width / 2 + 0.5;
-    this->top = y - this->height / 2 + 0.5;
+    this->left = (x - (this->width / 2)) + 0.5;
+    this->top = (y - (this->height / 2)) + 0.5;
   }
 
   /*!
@@ -398,8 +398,8 @@ class VISP_EXPORT vpRect
   */
   inline void moveCenter(const vpImagePoint &center)
   {
-    this->left = center.get_u() - this->width / 2 + 0.5;
-    this->top = center.get_v() - this->height / 2 + 0.5;
+    this->left = (center.get_u() - (this->width / 2)) + 0.5;
+    this->top = (center.get_v() - (this->height / 2)) + 0.5;
   }
 
 private:
diff --git a/modules/core/include/visp3/core/vpRectOriented.h b/modules/core/include/visp3/core/vpRectOriented.h
index dbaf468f3f..afe8667a66 100644
--- a/modules/core/include/visp3/core/vpRectOriented.h
+++ b/modules/core/include/visp3/core/vpRectOriented.h
@@ -55,7 +55,7 @@ class VISP_EXPORT vpRectOriented
 
   vpRectOriented(const vpImagePoint &center, double width, double height, double theta = 0);
 
-  vpRectOriented(const vpRect &rect);
+  explicit vpRectOriented(const vpRect &rect);
 
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   vpRectOriented &operator=(const vpRectOriented &) = default;
diff --git a/modules/core/include/visp3/core/vpRotationVector.h b/modules/core/include/visp3/core/vpRotationVector.h
index 49c3daae09..ac49de5431 100644
--- a/modules/core/include/visp3/core/vpRotationVector.h
+++ b/modules/core/include/visp3/core/vpRotationVector.h
@@ -127,7 +127,8 @@ class VISP_EXPORT vpRotationVector : public vpArray2D<double>
   vpRotationVector &operator=(const vpRotationVector &v)
   {
     resize(v.size(), 1);
-    for (unsigned int i = 0; i < v.size(); ++i) {
+    unsigned int v_size = v.size();
+    for (unsigned int i = 0; i < v_size; ++i) {
       data[i] = v.data[i];
     }
     return *this;
diff --git a/modules/core/include/visp3/core/vpRowVector.h b/modules/core/include/visp3/core/vpRowVector.h
index 873eac222a..3119f303da 100644
--- a/modules/core/include/visp3/core/vpRowVector.h
+++ b/modules/core/include/visp3/core/vpRowVector.h
@@ -117,13 +117,13 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
   //! one.
   vpRowVector(const vpRowVector &v) : vpArray2D<double>(v) { }
   vpRowVector(const vpRowVector &v, unsigned int c, unsigned int ncols);
-  vpRowVector(const vpMatrix &M);
+  explicit vpRowVector(const vpMatrix &M);
   vpRowVector(const vpMatrix &M, unsigned int i);
-  vpRowVector(const std::vector<double> &v);
-  vpRowVector(const std::vector<float> &v);
+  explicit vpRowVector(const std::vector<double> &v);
+  explicit vpRowVector(const std::vector<float> &v);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   vpRowVector(vpRowVector &&v);
-  vpRowVector(const std::initializer_list<double> &list) : vpArray2D<double>(list) { }
+  explicit vpRowVector(const std::initializer_list<double> &list) : vpArray2D<double>(list) { }
 #endif
 
   /*!
@@ -141,7 +141,9 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
       free(rowPtrs);
       rowPtrs = nullptr;
     }
-    rowNum = colNum = dsize = 0;
+    rowNum = 0;
+    colNum = 0;
+    dsize = 0;
   }
 
   std::ostream &cppPrint(std::ostream &os, const std::string &matrixName = "A", bool octet = false) const;
@@ -178,7 +180,7 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
    */
   vpRowVector extract(unsigned int c, unsigned int rowsize) const
   {
-    if (c >= colNum || c + rowsize > colNum) {
+    if ((c >= colNum) || ((c + rowsize) > colNum)) {
       throw(vpException(vpException::fatalError,
                         "Cannot extract a (1x%d) row vector from a (1x%d) "
                         "row vector starting at index %d",
@@ -270,11 +272,12 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
     */
   void resize(unsigned int nrows, unsigned int ncols, bool flagNullify)
   {
-    if (nrows != 1)
+    if (nrows != 1) {
       throw(vpException(vpException::fatalError,
                         "Cannot resize a row vector to a (%dx%d) dimension "
                         "vector that has more than one row",
                         nrows, ncols));
+    }
     vpArray2D<double>::resize(nrows, ncols, flagNullify);
   }
 
diff --git a/modules/core/include/visp3/core/vpSubColVector.h b/modules/core/include/visp3/core/vpSubColVector.h
index ad97b7d2df..ebfe81edc0 100644
--- a/modules/core/include/visp3/core/vpSubColVector.h
+++ b/modules/core/include/visp3/core/vpSubColVector.h
@@ -56,7 +56,7 @@ class VISP_EXPORT vpSubColVector : public vpColVector
 {
 private:
   //! Copy constructor unavailable
-  vpSubColVector(const vpSubColVector & /* m */);
+  vpSubColVector(const vpSubColVector &v /* m */);
 
 protected:
   //! Number of row of parent vpColVector at initialization
diff --git a/modules/core/include/visp3/core/vpSubMatrix.h b/modules/core/include/visp3/core/vpSubMatrix.h
index d4fbfe6b01..8959603ba1 100644
--- a/modules/core/include/visp3/core/vpSubMatrix.h
+++ b/modules/core/include/visp3/core/vpSubMatrix.h
@@ -59,7 +59,7 @@ class VISP_EXPORT vpSubMatrix : public vpMatrix
   //! Eye method unavailable
   void eye(unsigned int m, unsigned int n);
   //! Copy constructor unavailable
-  vpSubMatrix(const vpSubMatrix & /* m */);
+  vpSubMatrix(const vpSubMatrix &m /* m */);
 
 protected:
   unsigned int pRowNum;
diff --git a/modules/core/include/visp3/core/vpSubRowVector.h b/modules/core/include/visp3/core/vpSubRowVector.h
index c5fa99611a..ffd5e1b0c1 100644
--- a/modules/core/include/visp3/core/vpSubRowVector.h
+++ b/modules/core/include/visp3/core/vpSubRowVector.h
@@ -56,7 +56,7 @@ class VISP_EXPORT vpSubRowVector : public vpRowVector
 {
 private:
   //! Copy constructor unavailable
-  vpSubRowVector(const vpSubRowVector & /* m */);
+  vpSubRowVector(const vpSubRowVector &m /* m */);
 
 protected:
   //! Number of row of parent vpColVector at initialization
diff --git a/modules/core/include/visp3/core/vpVelocityTwistMatrix.h b/modules/core/include/visp3/core/vpVelocityTwistMatrix.h
index d8a3ccf0ab..e87504ae2d 100644
--- a/modules/core/include/visp3/core/vpVelocityTwistMatrix.h
+++ b/modules/core/include/visp3/core/vpVelocityTwistMatrix.h
@@ -175,8 +175,8 @@ class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
   vpVelocityTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau);
   vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
 
-  vpVelocityTwistMatrix(const vpRotationMatrix &R);
-  vpVelocityTwistMatrix(const vpThetaUVector &thetau);
+  explicit vpVelocityTwistMatrix(const vpRotationMatrix &R);
+  explicit vpVelocityTwistMatrix(const vpThetaUVector &thetau);
 
   vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
   vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
diff --git a/modules/core/include/visp3/core/vpXmlParserCamera.h b/modules/core/include/visp3/core/vpXmlParserCamera.h
index 565f739b9e..ebfb896dca 100644
--- a/modules/core/include/visp3/core/vpXmlParserCamera.h
+++ b/modules/core/include/visp3/core/vpXmlParserCamera.h
@@ -191,7 +191,7 @@ class VISP_EXPORT vpXmlParserCamera
   void setWidth(unsigned int width);
 
 private:
-  vpXmlParserCamera(const vpXmlParserCamera &);            // noncopyable
+  vpXmlParserCamera(const vpXmlParserCamera &c);            // noncopyable
   vpXmlParserCamera &operator=(const vpXmlParserCamera &); //
 
   // PIMPL idiom
diff --git a/modules/core/include/visp3/core/vpXmlParserHomogeneousMatrix.h b/modules/core/include/visp3/core/vpXmlParserHomogeneousMatrix.h
index d8243259ee..b99d65609b 100644
--- a/modules/core/include/visp3/core/vpXmlParserHomogeneousMatrix.h
+++ b/modules/core/include/visp3/core/vpXmlParserHomogeneousMatrix.h
@@ -39,8 +39,8 @@
 
 */
 
-#ifndef vpXMLPARSERHOMOGENEOUSMATRIX_H
-#define vpXMLPARSERHOMOGENEOUSMATRIX_H
+#ifndef VP_XMLPARSERHOMOGENEOUSMATRIX_H
+#define VP_XMLPARSERHOMOGENEOUSMATRIX_H
 
 #include <visp3/core/vpConfig.h>
 
@@ -164,7 +164,7 @@ class VISP_EXPORT vpXmlParserHomogeneousMatrix
   void setHomogeneousMatrixName(const std::string &name);
 
 private:
-  vpXmlParserHomogeneousMatrix(const vpXmlParserHomogeneousMatrix &);            // noncopyable
+  vpXmlParserHomogeneousMatrix(const vpXmlParserHomogeneousMatrix &hm);            // noncopyable
   vpXmlParserHomogeneousMatrix &operator=(const vpXmlParserHomogeneousMatrix &); //
 
   // PIMPL idiom
diff --git a/modules/core/include/visp3/core/vpXmlParserRectOriented.h b/modules/core/include/visp3/core/vpXmlParserRectOriented.h
index 52dcff8e69..861546c013 100644
--- a/modules/core/include/visp3/core/vpXmlParserRectOriented.h
+++ b/modules/core/include/visp3/core/vpXmlParserRectOriented.h
@@ -101,7 +101,7 @@ class VISP_EXPORT vpXmlParserRectOriented
   void setRectangle(const vpRectOriented &rectangle);
 
 private:
-  vpXmlParserRectOriented(const vpXmlParserRectOriented &);            // noncopyable
+  vpXmlParserRectOriented(const vpXmlParserRectOriented &ro);            // noncopyable
   vpXmlParserRectOriented &operator=(const vpXmlParserRectOriented &); //
 
   // PIMPL idiom
diff --git a/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h b/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
index d51df0d51c..d006d836c4 100644
--- a/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
+++ b/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
@@ -67,56 +67,6 @@ class VISP_EXPORT vpCircleHoughTransform
    */
   class vpCircleHoughTransformParameters
   {
-  private:
-    // // Filtering + gradient operators to use
-    vpImageFilter::vpCannyFilteringAndGradientType m_filteringAndGradientType; /*!< Permits to choose the filtering +
-                                                                                    gradient operators to use.*/
-
-    // // Gaussian smoothing attributes
-    int m_gaussianKernelSize; /*!< Size of the Gaussian filter kernel used to smooth the input image.
-                                   Must be an odd number.*/
-    float m_gaussianStdev;   /*!< Standard deviation of the Gaussian filter.*/
-
-    // // Gradient computation attributes
-    int m_gradientFilterKernelSize; /*!< Size of the Sobel or Scharr kernels used to compute the gradients. Must be an odd number.*/
-
-    // // Edge detection attributes
-    float m_lowerCannyThresh; /*!< The lower threshold for the Canny operator. Values lower than this value are rejected.
-                               A negative value makes the algorithm compute the lower threshold automatically.*/
-    float m_upperCannyThresh; /*!< The upper threshold for the Canny operator. Only values greater than this value are marked as an edge.
-                               A negative value makes the algorithm compute the upper and lower thresholds automatically.*/
-    int m_edgeMapFilteringNbIter; /*!< Number of iterations of 8-neighbor connectivity filtering to apply to the edge map*/
-    vpImageFilter::vpCannyBackendType m_cannyBackendType; /*!< Permits to choose the backend used to compute the edge map.*/
-    float m_lowerCannyThreshRatio; /*!< The ratio of the upper threshold the lower threshold must be equal to.
-                                        It is used only if the user asks to compute the Canny thresholds.*/
-    float m_upperCannyThreshRatio; /*!< The ratio of pixels whose absolute gradient Gabs is lower or equal to define
-                                        the upper threshold. It is used only if the user asks to compute the Canny thresholds.*/
-
-    // // Center candidates computation attributes
-    std::pair<int, int> m_centerXlimits; /*!< Minimum and maximum position on the horizontal axis of the center of the circle we want to detect.*/
-    std::pair<int, int> m_centerYlimits; /*!< Minimum and maximum position on the vertical axis of the center of the circle we want to detect.*/
-    float m_minRadius; /*!< Minimum radius of the circles we want to detect.*/
-    float m_maxRadius; /*!< Maximum radius of the circles we want to detect.*/
-    int m_dilatationKernelSize; /*!< Kernel size of the dilatation that is performed to detect the maximum number of votes for the center candidates.*/
-    int m_averagingWindowSize; /*!< Size of the averaging window around the maximum number of votes to compute the
-                                    center candidate such as it is the barycenter of the window. Must be odd.*/
-    float m_centerMinThresh;  /*!< Minimum number of votes a point must exceed to be considered as center candidate.*/
-    int m_expectedNbCenters; /*!< Expected number of different centers in the image. If negative, all candidates centers
-                                  are kept, otherwise only up to this number are kept.*/
-
-    // // Circle candidates computation attributes
-    float m_circleProbaThresh;  /*!< Probability threshold in order to keep a circle candidate.*/
-    float m_circlePerfectness; /*!< The threshold for the colinearity between the gradient of a point
-                                    and the radius it would form with a center candidate to be able to vote.
-                                    The formula to get the equivalent angle is: `angle = acos(circle_perfectness)`. */
-    float m_circleVisibilityRatioThresh; /*!< Visibility ratio threshold: minimum ratio of the circle must be visible in order to keep a circle candidate.*/
-    bool m_recordVotingPoints; /*!< If true, the edge-map points having voted for each circle will be stored.*/
-
-    // // Circle candidates merging attributes
-    float m_centerMinDist; /*!< Maximum distance between two circle candidates centers to consider merging them.*/
-    float m_mergingRadiusDiffThresh; /*!< Maximum radius difference between two circle candidates to consider merging them.*/
-
-    friend class vpCircleHoughTransform;
   public:
     /**
      * \brief Construct a new vpCircleHoughTransformParameters object with default parameters.
@@ -479,7 +429,8 @@ class VISP_EXPORT vpCircleHoughTransform
       txt <<  "\tCircle probability threshold = " << m_circleProbaThresh << "\n";
       txt <<  "\tCircle visibility ratio threshold = " << m_circleVisibilityRatioThresh << "\n";
       txt <<  "\tCircle perfectness threshold = " << m_circlePerfectness << "\n";
-      txt <<  "\tRecord voting points = " + (m_recordVotingPoints ? std::string("true") : std::string("false")) << "\n";
+      txt <<  "\tRecord voting points = ";
+      txt << (m_recordVotingPoints ? std::string("true") : std::string("false")) << "\n";
       txt <<  "\tCenters minimum distance = " << m_centerMinDist << "\n";
       txt <<  "\tRadius difference merging threshold = " << m_mergingRadiusDiffThresh << "\n";
       return txt.str();
@@ -651,6 +602,57 @@ class VISP_EXPORT vpCircleHoughTransform
           {"mergingRadiusDiffThresh", params.m_mergingRadiusDiffThresh} };
     }
 #endif
+
+  private:
+    // // Filtering + gradient operators to use
+    vpImageFilter::vpCannyFilteringAndGradientType m_filteringAndGradientType; /*!< Permits to choose the filtering +
+                                                                                    gradient operators to use.*/
+
+    // // Gaussian smoothing attributes
+    int m_gaussianKernelSize; /*!< Size of the Gaussian filter kernel used to smooth the input image.
+                                   Must be an odd number.*/
+    float m_gaussianStdev;   /*!< Standard deviation of the Gaussian filter.*/
+
+    // // Gradient computation attributes
+    int m_gradientFilterKernelSize; /*!< Size of the Sobel or Scharr kernels used to compute the gradients. Must be an odd number.*/
+
+    // // Edge detection attributes
+    float m_lowerCannyThresh; /*!< The lower threshold for the Canny operator. Values lower than this value are rejected.
+                               A negative value makes the algorithm compute the lower threshold automatically.*/
+    float m_upperCannyThresh; /*!< The upper threshold for the Canny operator. Only values greater than this value are marked as an edge.
+                               A negative value makes the algorithm compute the upper and lower thresholds automatically.*/
+    int m_edgeMapFilteringNbIter; /*!< Number of iterations of 8-neighbor connectivity filtering to apply to the edge map*/
+    vpImageFilter::vpCannyBackendType m_cannyBackendType; /*!< Permits to choose the backend used to compute the edge map.*/
+    float m_lowerCannyThreshRatio; /*!< The ratio of the upper threshold the lower threshold must be equal to.
+                                        It is used only if the user asks to compute the Canny thresholds.*/
+    float m_upperCannyThreshRatio; /*!< The ratio of pixels whose absolute gradient Gabs is lower or equal to define
+                                        the upper threshold. It is used only if the user asks to compute the Canny thresholds.*/
+
+    // // Center candidates computation attributes
+    std::pair<int, int> m_centerXlimits; /*!< Minimum and maximum position on the horizontal axis of the center of the circle we want to detect.*/
+    std::pair<int, int> m_centerYlimits; /*!< Minimum and maximum position on the vertical axis of the center of the circle we want to detect.*/
+    float m_minRadius; /*!< Minimum radius of the circles we want to detect.*/
+    float m_maxRadius; /*!< Maximum radius of the circles we want to detect.*/
+    int m_dilatationKernelSize; /*!< Kernel size of the dilatation that is performed to detect the maximum number of votes for the center candidates.*/
+    int m_averagingWindowSize; /*!< Size of the averaging window around the maximum number of votes to compute the
+                                    center candidate such as it is the barycenter of the window. Must be odd.*/
+    float m_centerMinThresh;  /*!< Minimum number of votes a point must exceed to be considered as center candidate.*/
+    int m_expectedNbCenters; /*!< Expected number of different centers in the image. If negative, all candidates centers
+                                  are kept, otherwise only up to this number are kept.*/
+
+    // // Circle candidates computation attributes
+    float m_circleProbaThresh;  /*!< Probability threshold in order to keep a circle candidate.*/
+    float m_circlePerfectness; /*!< The threshold for the colinearity between the gradient of a point
+                                    and the radius it would form with a center candidate to be able to vote.
+                                    The formula to get the equivalent angle is: `angle = acos(circle_perfectness)`. */
+    float m_circleVisibilityRatioThresh; /*!< Visibility ratio threshold: minimum ratio of the circle must be visible in order to keep a circle candidate.*/
+    bool m_recordVotingPoints; /*!< If true, the edge-map points having voted for each circle will be stored.*/
+
+    // // Circle candidates merging attributes
+    float m_centerMinDist; /*!< Maximum distance between two circle candidates centers to consider merging them.*/
+    float m_mergingRadiusDiffThresh; /*!< Maximum radius difference between two circle candidates to consider merging them.*/
+
+    friend class vpCircleHoughTransform;
   };
 
   /**
@@ -663,7 +665,7 @@ class VISP_EXPORT vpCircleHoughTransform
    * from a \b vpCircleHoughTransformParameters object.
    * \param[in] algoParams The parameters of the Circle Hough Transform.
    */
-  vpCircleHoughTransform(const vpCircleHoughTransformParameters &algoParams);
+  explicit vpCircleHoughTransform(const vpCircleHoughTransformParameters &algoParams);
 
   /**
    * \brief Destroy the vp Circle Hough Transform object
@@ -945,7 +947,7 @@ class VISP_EXPORT vpCircleHoughTransform
   void setCirclePerfectness(const float &circle_perfectness)
   {
     m_algoParams.m_circlePerfectness = circle_perfectness;
-    if (m_algoParams.m_circlePerfectness <= 0 || m_algoParams.m_circlePerfectness > 1) {
+    if ((m_algoParams.m_circlePerfectness <= 0) || (m_algoParams.m_circlePerfectness > 1)) {
       throw vpException(vpException::badValue, "Circle perfectness must be in the interval ] 0; 1].");
     }
   }