diff --git a/examples/camera_tracking/GlutWindow.cc b/examples/camera_tracking/GlutWindow.cc
index 8e29e02c2..be22d731a 100644
--- a/examples/camera_tracking/GlutWindow.cc
+++ b/examples/camera_tracking/GlutWindow.cc
@@ -364,7 +364,7 @@ void keyboardCB(unsigned char _key, int, int)
     g_followOffset.Z() -= 0.1;
   }
 
-  for (unsigned int i = 0; i < g_cameras.size(); ++i)
+  for (size_t i = 0; i < g_cameras.size(); ++i)
   {
     auto cam = g_cameras[i];
     auto node = g_nodes[i];
diff --git a/examples/lidar_visual/GlutWindow.cc b/examples/lidar_visual/GlutWindow.cc
index 0cbbc2503..1dd989bdc 100644
--- a/examples/lidar_visual/GlutWindow.cc
+++ b/examples/lidar_visual/GlutWindow.cc
@@ -460,7 +460,7 @@ void run(std::vector<ir::CameraPtr> _cameras,
   initContext();
   printUsage();
   g_lidarData.clear();
-  for (int pt =0; pt < _pts.size(); pt++)
+  for (size_t pt =0; pt < _pts.size(); pt++)
   {
     g_lidarData.push_back(_pts[pt]);
   }
diff --git a/include/gz/rendering/OrbitViewController.hh b/include/gz/rendering/OrbitViewController.hh
index 6be4629cf..d43cf9522 100644
--- a/include/gz/rendering/OrbitViewController.hh
+++ b/include/gz/rendering/OrbitViewController.hh
@@ -49,35 +49,35 @@ namespace gz
       public: explicit OrbitViewController(const CameraPtr &_camera);
 
       /// \brief Destructor
-      public: virtual ~OrbitViewController();
+      public: ~OrbitViewController() override;
 
       /// \brief Set the camera that will be controlled by this view controller.
       /// \param[in] _camera Camera to control
-      public: virtual void SetCamera(const CameraPtr &_camera);
+      public: void SetCamera(const CameraPtr &_camera) override;
 
       /// \brief Get the camera that is controlled by this view controller.
       /// \return Camera being controlled
       public: virtual CameraPtr Camera() const;
 
-      /// \brief Set target point for pan, zoom, oribit
+      /// \brief Set target point for pan, zoom, orbit
       /// \param[in] _target Target point in world coordinates
-      public: virtual void SetTarget(const math::Vector3d &_target);
+      public: void SetTarget(const math::Vector3d &_target) override;
 
-      /// \brief Get target point for pan, zoom, oribit
+      /// \brief Get target point for pan, zoom, orbit
       /// \return target point in world coordinates
       public: virtual const math::Vector3d &Target() const;
 
       /// \brief Set zoom amount
       /// \param[in] _value Camera zoom value, e.g. mouse scroll delta
-      public: virtual void Zoom(const double _value);
+      public: void Zoom(const double _value) override;
 
       /// \brief Set camera pan (translational movement) around target point.
       /// \param[in] _value Pan amount in image plane, e.g. mouse drag delta.
-      public: virtual void Pan(const math::Vector2d &_value);
+      public: void Pan(const math::Vector2d &_value) override;
 
       /// \brief Set camera orbit (rotational movement) around target point.
-      /// \param[in] _value robit amount in image plane, e.g. mouse drag delta
-      public: virtual void Orbit(const math::Vector2d &_value);
+      /// \param[in] _value orbit amount in image plane, e.g. mouse drag delta
+      public:  void Orbit(const math::Vector2d &_value) override;
 
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Private data pointer
diff --git a/include/gz/rendering/OrthoViewController.hh b/include/gz/rendering/OrthoViewController.hh
index ce53b2ef5..5d5dfea20 100644
--- a/include/gz/rendering/OrthoViewController.hh
+++ b/include/gz/rendering/OrthoViewController.hh
@@ -45,11 +45,11 @@ namespace gz
       public: explicit OrthoViewController(const CameraPtr &_camera);
 
       /// \brief Destructor.
-      public: virtual ~OrthoViewController();
+      public: ~OrthoViewController() override;
 
       /// \brief Set the camera that will be controlled by this view controller.
       /// \param[in] _camera Camera to control
-      public: virtual void SetCamera(const CameraPtr &_camera);
+      public: void SetCamera(const CameraPtr &_camera) override;
 
       /// \brief Get the camera that is controlled by this view controller.
       /// \return Camera being controlled
@@ -57,7 +57,7 @@ namespace gz
 
       /// \brief Set target point for pan, zoom, oribit
       /// \param[in] _target Target point in world coordinates
-      public: virtual void SetTarget(const math::Vector3d &_target);
+      public: void SetTarget(const math::Vector3d &_target) override;
 
       /// \brief Get target point for pan, zoom, oribit
       /// \return target point in world coordinates
@@ -65,15 +65,15 @@ namespace gz
 
       /// \brief Set zoom amount
       /// \param[in] _value Camera zoom value, e.g. mouse scroll delta
-      public: virtual void Zoom(const double _value);
+      public: void Zoom(const double _value) override;
 
       /// \brief Set camera pan (translational movement) around target point.
       /// \param[in] _value Pan amount in image plane, e.g. mouse drag delta.
-      public: virtual void Pan(const math::Vector2d &_value);
+      public: void Pan(const math::Vector2d &_value) override;
 
       /// \brief Set camera orbit (rotational movement) around target point.
-      /// \param[in] _value robit amount in image plane, e.g. mouse drag delta
-      public: virtual void Orbit(const math::Vector2d &_value);
+      /// \param[in] _value orbit amount in image plane, e.g. mouse drag delta
+      public: void Orbit(const math::Vector2d &_value) override;
 
       /// \brief Resize and update the camera projection matrix
       /// \param[in] _width Image width
diff --git a/include/gz/rendering/base/BaseBoundingBoxCamera.hh b/include/gz/rendering/base/BaseBoundingBoxCamera.hh
index 215f1cb54..5a132899d 100644
--- a/include/gz/rendering/base/BaseBoundingBoxCamera.hh
+++ b/include/gz/rendering/base/BaseBoundingBoxCamera.hh
@@ -41,24 +41,25 @@ namespace gz
       protected: BaseBoundingBoxCamera();
 
       /// \brief Destructor
-      public: virtual ~BaseBoundingBoxCamera();
+      public: ~BaseBoundingBoxCamera() override;
 
       // Documentation inherited
-      public: virtual const std::vector<BoundingBox> &BoundingBoxData() const;
+      public: const std::vector<BoundingBox> &BoundingBoxData() const override;
 
       // Documentation inherited
-      public: virtual gz::common::ConnectionPtr ConnectNewBoundingBoxes(
-        std::function<void(const std::vector<BoundingBox> &)> _subscriber) = 0;
+      public: gz::common::ConnectionPtr ConnectNewBoundingBoxes(
+        std::function<void(const std::vector<BoundingBox> &)> _subscriber)
+        override = 0;
 
       // Documentation inherited
-      public: virtual void SetBoundingBoxType(BoundingBoxType _type);
+      public: void SetBoundingBoxType(BoundingBoxType _type) override;
 
       // Documentation inherited
-      public: virtual BoundingBoxType Type() const;
+      public: BoundingBoxType Type() const override;
 
       // Documentation inherited
-      public: virtual void DrawBoundingBox(unsigned char *_data,
-        const math::Color &_color, const BoundingBox &_box) const = 0;
+      public: void DrawBoundingBox(unsigned char *_data,
+        const math::Color &_color, const BoundingBox &_box) const override = 0;
 
       /// \brief The bounding box type
       protected: BoundingBoxType type = BoundingBoxType::BBT_FULLBOX2D;
diff --git a/include/gz/rendering/base/BaseCamera.hh b/include/gz/rendering/base/BaseCamera.hh
index 5201a5e88..61d339df5 100644
--- a/include/gz/rendering/base/BaseCamera.hh
+++ b/include/gz/rendering/base/BaseCamera.hh
@@ -160,7 +160,7 @@ namespace gz
 
       // Documentation inherited.
       public: virtual void SetFollowTarget(const NodePtr &_target,
-                  const math::Vector3d &_Offset, const bool _worldFrame)
+                  const math::Vector3d &_offset, const bool _worldFrame)
                   override;
 
       // Documentation inherited.
@@ -680,9 +680,9 @@ namespace gz
 
     //////////////////////////////////////////////////
     template <class T>
-    void BaseCamera<T>::SetAspectRatio(const double _aspect)
+    void BaseCamera<T>::SetAspectRatio(const double _ratio)
     {
-      this->aspect = _aspect;
+      this->aspect = _ratio;
     }
 
     //////////////////////////////////////////////////
diff --git a/include/gz/rendering/base/BaseDepthCamera.hh b/include/gz/rendering/base/BaseDepthCamera.hh
index 5df4f5475..676cd3c3c 100644
--- a/include/gz/rendering/base/BaseDepthCamera.hh
+++ b/include/gz/rendering/base/BaseDepthCamera.hh
@@ -37,15 +37,15 @@ namespace gz
     {
       protected: BaseDepthCamera();
 
-      public: virtual ~BaseDepthCamera();
+      public: ~BaseDepthCamera() override;
 
-      public: virtual void CreateDepthTexture();
+      public: void CreateDepthTexture() override;
 
-      public: virtual const float *DepthData() const;
+      public: const float *DepthData() const override;
 
-      public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
+      public: gz::common::ConnectionPtr ConnectNewDepthFrame(
           std::function<void(const float *, unsigned int, unsigned int,
-          unsigned int, const std::string &)>  _subscriber);
+          unsigned int, const std::string &)>  _subscriber) override;
 
       public: virtual gz::common::ConnectionPtr ConnectNewRGBPointCloud(
           std::function<void(const float *, unsigned int, unsigned int,
diff --git a/include/gz/rendering/base/BaseDistortionPass.hh b/include/gz/rendering/base/BaseDistortionPass.hh
index 6599cf6c5..7a239bb26 100644
--- a/include/gz/rendering/base/BaseDistortionPass.hh
+++ b/include/gz/rendering/base/BaseDistortionPass.hh
@@ -38,43 +38,43 @@ namespace gz
       protected: BaseDistortionPass();
 
       /// \brief Destructor
-      public: virtual ~BaseDistortionPass();
+      public: ~BaseDistortionPass() override;
 
       // Documentation inherited.
-      public: double K1() const;
+      public: double K1() const override;
 
       // Documentation inherited.
-      public: double K2() const;
+      public: double K2() const override;
 
       // Documentation inherited.
-      public: double K3() const;
+      public: double K3() const override;
 
       // Documentation inherited.
-      public: double P1() const;
+      public: double P1() const override;
 
       // Documentation inherited.
-      public: double P2() const;
+      public: double P2() const override;
 
       // Documentation inherited.
-      public: math::Vector2d Center() const;
+      public: math::Vector2d Center() const override;
 
       // Documentation inherited.
-      public: void SetK1(double _k1);
+      public: void SetK1(double _k1) override;
 
       // Documentation inherited.
-      public: void SetK2(double _k2);
+      public: void SetK2(double _k2) override;
 
       // Documentation inherited.
-      public: void SetK3(double _k3);
+      public: void SetK3(double _k3) override;
 
       // Documentation inherited.
-      public: void SetP1(double _p1);
+      public: void SetP1(double _p1) override;
 
       // Documentation inherited.
-      public: void SetP2(double _p2);
+      public: void SetP2(double _p2) override;
 
       // Documentation inherited.
-      public: void SetCenter(const math::Vector2d &_center);
+      public: void SetCenter(const math::Vector2d &_center) override;
 
       /// \brief Radial distortion coefficient k1.
       public: double k1 = 0;
diff --git a/include/gz/rendering/base/BaseGaussianNoisePass.hh b/include/gz/rendering/base/BaseGaussianNoisePass.hh
index e4be55836..816374c53 100644
--- a/include/gz/rendering/base/BaseGaussianNoisePass.hh
+++ b/include/gz/rendering/base/BaseGaussianNoisePass.hh
@@ -41,28 +41,28 @@ namespace gz
       protected: BaseGaussianNoisePass();
 
       /// \brief Destructor
-      public: virtual ~BaseGaussianNoisePass();
+      public: ~BaseGaussianNoisePass() override;
 
       // Documentation inherited.
-      public: double Mean() const;
+      public: double Mean() const override;
 
       // Documentation inherited.
-      public: double StdDev() const;
+      public: double StdDev() const override;
 
       // Documentation inherited.
-      public: double Bias() const;
+      public: double Bias() const override;
 
       // Documentation inherited.
-      public: void SetMean(double _mean);
+      public: void SetMean(double _mean) override;
 
       // Documentation inherited.
-      public: void SetStdDev(double _stdDev);
+      public: void SetStdDev(double _stdDev) override;
 
       // Documentation inherited.
-      public: void SetBiasMean(double _biasMean);
+      public: void SetBiasMean(double _biasMean) override;
 
       // Documentation inherited.
-      public: void SetBiasStdDev(double _biasStdDev);
+      public: void SetBiasStdDev(double _biasStdDev) override;
 
       // Sample the bias from bias mean and bias standard deviation
       protected: void SampleBias();
diff --git a/include/gz/rendering/base/BaseGeometry.hh b/include/gz/rendering/base/BaseGeometry.hh
index cde12860d..710115865 100644
--- a/include/gz/rendering/base/BaseGeometry.hh
+++ b/include/gz/rendering/base/BaseGeometry.hh
@@ -37,25 +37,25 @@ namespace gz
     {
       protected: BaseGeometry();
 
-      public: virtual ~BaseGeometry();
+      public: ~BaseGeometry() override;
 
-      public: virtual VisualPtr Parent() const override = 0;
+      public: VisualPtr Parent() const override = 0;
 
-      public: virtual void RemoveParent() override;
+      public: void RemoveParent() override;
 
       // Documentation inherited
-      public: virtual void SetMaterial(const std::string &_material,
+      public: void SetMaterial(const std::string &_name,
                   bool _unique = true) override;
 
       // Documentation inherited
-      public: virtual void SetMaterial(MaterialPtr _material,
+      public: void SetMaterial(MaterialPtr _material,
                   bool _unique = true) override = 0;
 
       // Documentation inherited
-      public: virtual GeometryPtr Clone() const override;
+      public: GeometryPtr Clone() const override;
 
       // Documentation inherited
-      public: virtual void Destroy() override;
+      public: void Destroy() override;
     };
 
     //////////////////////////////////////////////////
diff --git a/include/gz/rendering/base/BaseGpuRays.hh b/include/gz/rendering/base/BaseGpuRays.hh
index 4316ec213..aaebb821b 100644
--- a/include/gz/rendering/base/BaseGpuRays.hh
+++ b/include/gz/rendering/base/BaseGpuRays.hh
@@ -54,7 +54,7 @@ namespace gz
       public: virtual const float *Data() const override;
 
       // Documentation inherited.
-      public: virtual void Copy(float *_data) override;
+      public: virtual void Copy(float *_dataDest) override;
 
       // Documentation inherited.
       public: virtual void SetClamp(bool _enable) override;
@@ -146,7 +146,7 @@ namespace gz
       public: virtual double HorizontalResolution() const override;
 
       // Documentation inherited.
-      public: virtual void SetVerticalResolution(double resolution) override;
+      public: virtual void SetVerticalResolution(double _resolution) override;
 
       // Documentation inherited.
       public: virtual double VerticalResolution() const override;
diff --git a/include/gz/rendering/base/BaseGrid.hh b/include/gz/rendering/base/BaseGrid.hh
index fa629e12e..b9bba099a 100644
--- a/include/gz/rendering/base/BaseGrid.hh
+++ b/include/gz/rendering/base/BaseGrid.hh
@@ -37,31 +37,31 @@ namespace gz
       protected: BaseGrid();
 
       /// \brief Destructor
-      public: virtual ~BaseGrid();
+      public: ~BaseGrid() override;
 
       // Documentation inherited.
-      public: virtual void PreRender();
+      public: void PreRender() override;
 
       // Documentation inherited.
-      public: virtual void Destroy();
+      public: void Destroy() override;
 
       // Documentation inherited.
-      public: virtual unsigned int CellCount() const;
+      public: unsigned int CellCount() const override;
 
       // Documentation inherited.
-      public: virtual void SetCellCount(const unsigned int _count);
+      public: void SetCellCount(const unsigned int _count) override;
 
       // Documentation inherited.
-      public: virtual double CellLength() const;
+      public: double CellLength() const override;
 
       // Documentation inherited.
-      public: virtual void SetCellLength(const double _len);
+      public: void SetCellLength(const double _len) override;
 
       // Documentation inherited.
-      public: virtual unsigned int VerticalCellCount() const;
+      public: unsigned int VerticalCellCount() const override;
 
       // Documentation inherited.
-      public: virtual void SetVerticalCellCount(const unsigned int _count);
+      public: void SetVerticalCellCount(const unsigned int _count) override;
 
       /// \brief Number of cells in grid
       protected: unsigned int cellCount = 10u;
diff --git a/include/gz/rendering/base/BaseLight.hh b/include/gz/rendering/base/BaseLight.hh
index 6fc67a4b5..1148f8cc1 100644
--- a/include/gz/rendering/base/BaseLight.hh
+++ b/include/gz/rendering/base/BaseLight.hh
@@ -32,36 +32,36 @@ namespace gz
     {
       protected: BaseLight();
 
-      public: virtual ~BaseLight();
+      public: ~BaseLight() override;
 
       // Documentation inherited
-      public: virtual void SetDiffuseColor(double _r, double _g, double _b,
-                  double _a = 1.0);
+      public: void SetDiffuseColor(double _r, double _g, double _b,
+                  double _a = 1.0) override;
 
       // Documentation inherited.
-      public: virtual void SetDiffuseColor(const math::Color &_color) = 0;
+      public: void SetDiffuseColor(const math::Color &_color) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetSpecularColor(double _r, double _g, double _b,
-                  double _a = 1.0);
+      public: void SetSpecularColor(double _r, double _g, double _b,
+                  double _a = 1.0) override;
 
       // Documentation inherited.
-      public: virtual void SetSpecularColor(const math::Color &_color) = 0;
+      public: void SetSpecularColor(const math::Color &_color) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetAttenuationConstant(double _value) = 0;
+      public: void SetAttenuationConstant(double _value) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetAttenuationLinear(double _value) = 0;
+      public: void SetAttenuationLinear(double _value) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetAttenuationQuadratic(double _value) = 0;
+      public: void SetAttenuationQuadratic(double _value) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetAttenuationRange(double _range) = 0;
+      public: void SetAttenuationRange(double _range) override = 0;
 
       // Documentation inherited.
-      public: virtual void SetCastShadows(bool _castShadows) = 0;
+      public: void SetCastShadows(bool _castShadows) override = 0;
 
       // Documentation inherited.
       protected: virtual void Reset();
@@ -74,13 +74,13 @@ namespace gz
     {
       protected: BaseDirectionalLight();
 
-      public: virtual ~BaseDirectionalLight();
+      public: ~BaseDirectionalLight() override;
 
-      public: virtual void SetDirection(double _x, double _y, double _z);
+      public: void SetDirection(double _x, double _y, double _z) override;
 
-      public: virtual void SetDirection(const math::Vector3d &_dir) = 0;
+      public: void SetDirection(const math::Vector3d &_dir) override = 0;
 
-      protected: virtual void Reset();
+      protected: void Reset() override;
     };
 
     template <class T>
@@ -100,23 +100,23 @@ namespace gz
     {
       protected: BaseSpotLight();
 
-      public: virtual ~BaseSpotLight();
+      public: ~BaseSpotLight() override;
 
-      public: virtual void SetDirection(double _x, double _y, double _z);
+      public: void SetDirection(double _x, double _y, double _z) override;
 
-      public: virtual void SetDirection(const math::Vector3d &_dir) = 0;
+      public: void SetDirection(const math::Vector3d &_dir) override = 0;
 
-      public: virtual void SetInnerAngle(double _radians);
+      public: void SetInnerAngle(double _radians) override;
 
-      public: virtual void SetInnerAngle(const math::Angle &_angle) = 0;
+      public: void SetInnerAngle(const math::Angle &_angle) override = 0;
 
-      public: virtual void SetOuterAngle(double _radians);
+      public: void SetOuterAngle(double _radians) override;
 
-      public: virtual void SetOuterAngle(const math::Angle &_angle) = 0;
+      public: void SetOuterAngle(const math::Angle &_angle) override = 0;
 
-      public: virtual void SetFalloff(double _falloff) = 0;
+      public: void SetFalloff(double _falloff) override = 0;
 
-      protected: virtual void Reset();
+      protected: void Reset() override;
     };
 
     //////////////////////////////////////////////////
diff --git a/include/gz/rendering/base/BaseLightVisual.hh b/include/gz/rendering/base/BaseLightVisual.hh
index 4023584a1..5b43b901b 100644
--- a/include/gz/rendering/base/BaseLightVisual.hh
+++ b/include/gz/rendering/base/BaseLightVisual.hh
@@ -58,7 +58,7 @@ namespace gz
       public: virtual double InnerAngle() override;
 
       // Documentation inherited
-      public: virtual void SetOuterAngle(double _innerAngle) override;
+      public: virtual void SetOuterAngle(double _outerAngle) override;
 
       // Documentation inherited
       public: virtual double OuterAngle() override;
diff --git a/include/gz/rendering/base/BaseMaterial.hh b/include/gz/rendering/base/BaseMaterial.hh
index ef483ec0b..dd68886e3 100644
--- a/include/gz/rendering/base/BaseMaterial.hh
+++ b/include/gz/rendering/base/BaseMaterial.hh
@@ -565,16 +565,16 @@ namespace gz
 
     //////////////////////////////////////////////////
     template <class T>
-    void BaseMaterial<T>::SetReceiveShadows(const bool _receive)
+    void BaseMaterial<T>::SetReceiveShadows(const bool _receiveShadows)
     {
-      this->receiveShadows = _receive;
+      this->receiveShadows = _receiveShadows;
     }
 
     //////////////////////////////////////////////////
     template <class T>
-    void BaseMaterial<T>::SetRenderOrder(const float _renderorder)
+    void BaseMaterial<T>::SetRenderOrder(const float _renderOrder)
     {
-      this->renderOrder = _renderorder;
+      this->renderOrder = _renderOrder;
     }
 
     //////////////////////////////////////////////////
diff --git a/include/gz/rendering/base/BaseRenderTarget.hh b/include/gz/rendering/base/BaseRenderTarget.hh
index 882c337bd..a7711ba79 100644
--- a/include/gz/rendering/base/BaseRenderTarget.hh
+++ b/include/gz/rendering/base/BaseRenderTarget.hh
@@ -40,7 +40,7 @@ namespace gz
     {
       public: BaseRenderTarget();
 
-      public: virtual ~BaseRenderTarget();
+      public: ~BaseRenderTarget() override;
 
       // Documentation inherited.
       public: virtual void PreRender(const CameraPtr &_camera) override;
@@ -115,7 +115,7 @@ namespace gz
     {
       public: BaseRenderTexture();
 
-      public: virtual ~BaseRenderTexture();
+      public: ~BaseRenderTexture() override;
 
       // Documentation inherited.
       public: virtual unsigned int GLId() const override;
@@ -131,20 +131,20 @@ namespace gz
     {
       public: BaseRenderWindow();
 
-      public: virtual ~BaseRenderWindow();
+      public: ~BaseRenderWindow() override;
 
-      public: virtual std::string Handle() const;
+      public: std::string Handle() const override;
 
-      public: virtual void SetHandle(const std::string &_handle);
+      public: void SetHandle(const std::string &_handle) override;
 
-      public: virtual double DevicePixelRatio() const;
+      public: double DevicePixelRatio() const override;
 
-      public: virtual void SetDevicePixelRatio(const double _ratio);
+      public: void SetDevicePixelRatio(const double _ratio) override;
 
-      public: virtual void OnResize(const unsigned int _width,
-                  const unsigned int _height);
+      public: void OnResize(const unsigned int _width,
+                  const unsigned int _height) override;
 
-      public: virtual void OnMove();
+      public: void OnMove() override;
 
       protected: std::string handle;
 
diff --git a/include/gz/rendering/base/BaseText.hh b/include/gz/rendering/base/BaseText.hh
index e8a973443..4e1aa228a 100644
--- a/include/gz/rendering/base/BaseText.hh
+++ b/include/gz/rendering/base/BaseText.hh
@@ -37,13 +37,13 @@ namespace gz
       protected: BaseText();
 
       /// \brief Destructor
-      public: virtual ~BaseText();
+      public: ~BaseText() override;
 
       // Documentation inherited.
-      public: virtual void PreRender() override;
+      public: void PreRender() override;
 
       // Documentation inherited.
-      public: virtual void Destroy() override;
+      public: void Destroy() override;
 
       // Documentation inherited.
       public: void SetFontName(const std::string &_font) override;
@@ -52,53 +52,54 @@ namespace gz
       public: std::string FontName() const override;
 
       // Documentation inherited.
-      public: virtual void SetTextString(const std::string &_text) override;
+      public: void SetTextString(const std::string &_text) override;
 
       // Documentation inherited.
-      public: virtual std::string TextString() const override;
+      public: std::string TextString() const override;
 
       // Documentation inherited.
-      public: virtual void SetColor(const gz::math::Color &_color)
-          override;
+      public: void SetColor(const gz::math::Color &_color) override;
 
       // Documentation inherited.
-      public: virtual gz::math::Color Color() const override;
+      public: gz::math::Color Color() const override;
 
       // Documentation inherited.
-      public: virtual void SetCharHeight(const float _height) override;
+      public: void SetCharHeight(const float _height) override;
 
       // Documentation inherited.
-      public: virtual float CharHeight() const override;
+      public: float CharHeight() const override;
 
       // Documentation inherited.
-      public: virtual void SetSpaceWidth(const float _width) override;
+      public: void SetSpaceWidth(const float _width) override;
 
       // Documentation inherited.
-      public: virtual float SpaceWidth() const override;
+      public: float SpaceWidth() const override;
 
       // Documentation inherited.
-      public: virtual void SetTextAlignment(const TextHorizontalAlign &_hAlign,
+      public: void SetTextAlignment(
+                  const TextHorizontalAlign &_hAlign,
                   const TextVerticalAlign &_vAlign) override;
+
       // Documentation inherited.
-      public: virtual TextHorizontalAlign HorizontalAlignment() const override;
+      public: TextHorizontalAlign HorizontalAlignment() const override;
 
       // Documentation inherited.
-      public: virtual TextVerticalAlign VerticalAlignment() const override;
+      public: TextVerticalAlign VerticalAlignment() const override;
 
       // Documentation inherited.
-      public: virtual void SetBaseline(const float _baseline) override;
+      public: void SetBaseline(const float _baseline) override;
 
       // Documentation inherited.
-      public: virtual float Baseline() const override;
+      public: float Baseline() const override;
 
       // Documentation inherited.
       public: void SetShowOnTop(const bool _onTop) override;
 
       // Documentation inherited.
-      public: virtual bool ShowOnTop() const override;
+      public: bool ShowOnTop() const override;
 
       // Documentation inherited.
-      public: virtual gz::math::AxisAlignedBox AABB() const override;
+      public: gz::math::AxisAlignedBox AABB() const override;
 
       /// \brief Font name, such as "Liberation Sans"
       protected: std::string fontName = "Liberation Sans";
@@ -238,11 +239,11 @@ namespace gz
 
     //////////////////////////////////////////////////
     template <class T>
-    void BaseText<T>::SetTextAlignment(const TextHorizontalAlign &_horzAlign,
-                                       const TextVerticalAlign &_vertAlign)
+    void BaseText<T>::SetTextAlignment(const TextHorizontalAlign &_hAlign,
+                                       const TextVerticalAlign &_vAlign)
     {
-      this->horizontalAlign = _horzAlign;
-      this->verticalAlign = _vertAlign;
+      this->horizontalAlign = _hAlign;
+      this->verticalAlign = _vAlign;
       this->textDirty = true;
     }
 
diff --git a/include/gz/rendering/base/BaseThermalCamera.hh b/include/gz/rendering/base/BaseThermalCamera.hh
index a7bf4f8bb..68b919947 100644
--- a/include/gz/rendering/base/BaseThermalCamera.hh
+++ b/include/gz/rendering/base/BaseThermalCamera.hh
@@ -66,7 +66,7 @@ namespace gz
       public: virtual float MaxTemperature() const override;
 
       // Documentation inherited.
-      public: virtual void SetLinearResolution(float _max) override;
+      public: virtual void SetLinearResolution(float _resolution) override;
 
       // Documentation inherited.
       public: virtual float LinearResolution() const override;
diff --git a/include/gz/rendering/base/BaseWireBox.hh b/include/gz/rendering/base/BaseWireBox.hh
index 8d42100af..7ccefb3c0 100644
--- a/include/gz/rendering/base/BaseWireBox.hh
+++ b/include/gz/rendering/base/BaseWireBox.hh
@@ -36,19 +36,19 @@ namespace gz
       protected: BaseWireBox();
 
       /// \brief Destructor
-      public: virtual ~BaseWireBox();
+      public: ~BaseWireBox() override;
 
       // Documentation inherited.
-      public: virtual void PreRender();
+      public: void PreRender() override;
 
       // Documentation inherited.
-      public: virtual void Destroy();
+      public: void Destroy() override;
 
       // Documentation inherited.
-      public: virtual void SetBox(const gz::math::AxisAlignedBox &_box);
+      public: void SetBox(const gz::math::AxisAlignedBox &_box) override;
 
       // Documentation inherited.
-      public: virtual gz::math::AxisAlignedBox Box() const;
+      public: gz::math::AxisAlignedBox Box() const override;
 
       // \brief Underlying axis aligned box that the wire box reflects.
       protected: gz::math::AxisAlignedBox box;
diff --git a/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh b/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
index c0bd4d963..c76f3d7d2 100644
--- a/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
+++ b/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
@@ -47,7 +47,7 @@ namespace gz
                   MarkerType _opType = MT_LINE_STRIP);
 
       /// \brief Destructor
-      public: virtual ~OgreDynamicLines();
+      public: ~OgreDynamicLines() override;
 
       /// \brief Add a point to the point list
       /// \param[in] _pt gz::math::Vector3d point
@@ -96,11 +96,11 @@ namespace gz
 
       /// \brief Implementation DynamicRenderable,
       /// creates a simple vertex-only decl
-      private: virtual void CreateVertexDeclaration();
+      private: void CreateVertexDeclaration() override;
 
       /// \brief Implementation DynamicRenderable, pushes point
       /// list out to hardware memory
-      private: virtual void FillHardwareBuffers();
+      private: void FillHardwareBuffers() override;
 
       /// \brief private implementation
       private: std::unique_ptr<OgreDynamicLinesPrivate> dataPtr;
diff --git a/ogre/include/gz/rendering/ogre/OgreGeometry.hh b/ogre/include/gz/rendering/ogre/OgreGeometry.hh
index 0adecbf3b..ee454c8bf 100644
--- a/ogre/include/gz/rendering/ogre/OgreGeometry.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGeometry.hh
@@ -38,11 +38,11 @@ namespace gz
     {
       protected: OgreGeometry();
 
-      public: virtual ~OgreGeometry();
+      public: ~OgreGeometry() override;
 
-      public: virtual bool HasParent() const;
+      public: bool HasParent() const override;
 
-      public: virtual VisualPtr Parent() const;
+      public: VisualPtr Parent() const override;
 
       public: virtual Ogre::MovableObject *OgreObject() const = 0;
 
diff --git a/ogre/include/gz/rendering/ogre/OgreGrid.hh b/ogre/include/gz/rendering/ogre/OgreGrid.hh
index e79c56731..b869f0928 100644
--- a/ogre/include/gz/rendering/ogre/OgreGrid.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGrid.hh
@@ -45,22 +45,22 @@ namespace gz
       protected: OgreGrid();
 
       /// \brief Destructor
-      public: virtual ~OgreGrid();
+      public: ~OgreGrid() override;
 
       // Documentation inherited.
-      public: virtual void Init();
+      public: void Init() override;
 
       // Documentation inherited.
-      public: virtual Ogre::MovableObject *OgreObject() const;
+      public: Ogre::MovableObject *OgreObject() const override;
 
       // Documentation inherited.
-      public: virtual void PreRender();
+      public: void PreRender() override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: MaterialPtr Material() const override;
 
       // Documentation inherited.
-      public: virtual void SetMaterial(MaterialPtr _material, bool _unique);
+      public: void SetMaterial(MaterialPtr _material, bool _unique) override;
 
       /// \brief Set material to grid geometry.
       /// \param[in] _material Ogre material.
diff --git a/ogre/include/gz/rendering/ogre/OgreLight.hh b/ogre/include/gz/rendering/ogre/OgreLight.hh
index 51ee3df38..219859fc9 100644
--- a/ogre/include/gz/rendering/ogre/OgreLight.hh
+++ b/ogre/include/gz/rendering/ogre/OgreLight.hh
@@ -37,36 +37,36 @@ namespace gz
     {
       protected: OgreLight();
 
-      public: virtual ~OgreLight();
+      public: ~OgreLight() override;
 
       public: virtual math::Color DiffuseColor() const override;
 
-      public: virtual void SetDiffuseColor(const math::Color &_color) override;
+      public: void SetDiffuseColor(const math::Color &_color) override;
 
       public: virtual math::Color SpecularColor() const override;
 
-      public: virtual void SetSpecularColor(
+      public: void SetSpecularColor(
         const math::Color &_color) override;
 
       public: virtual double AttenuationConstant() const override;
 
-      public: virtual void SetAttenuationConstant(double _value) override;
+      public: void SetAttenuationConstant(double _value) override;
 
       public: virtual double AttenuationLinear() const override;
 
-      public: virtual void SetAttenuationLinear(double _value) override;
+      public: void SetAttenuationLinear(double _value) override;
 
       public: virtual double AttenuationQuadratic() const override;
 
-      public: virtual void SetAttenuationQuadratic(double _value) override;
+      public: void SetAttenuationQuadratic(double _value) override;
 
       public: virtual double AttenuationRange() const override;
 
-      public: virtual void SetAttenuationRange(double _range) override;
+      public: void SetAttenuationRange(double _range) override;
 
       public: virtual bool CastShadows() const override;
 
-      public: virtual void SetCastShadows(bool _castShadows) override;
+      public: void SetCastShadows(bool _castShadows) override;
 
       // Documentation Inherited
       public: virtual double Intensity() const override;
@@ -102,11 +102,11 @@ namespace gz
     {
       protected: OgreDirectionalLight();
 
-      public: virtual ~OgreDirectionalLight();
+      public: ~OgreDirectionalLight() override;
 
-      public: virtual math::Vector3d Direction() const;
+      public: math::Vector3d Direction() const override;
 
-      public: virtual void SetDirection(const math::Vector3d &_dir);
+      public: void SetDirection(const math::Vector3d &_dir) override;
 
       private: friend class OgreScene;
     };
@@ -126,23 +126,23 @@ namespace gz
     {
       protected: OgreSpotLight();
 
-      public: virtual ~OgreSpotLight();
+      public: ~OgreSpotLight() override;
 
-      public: virtual math::Vector3d Direction() const;
+      public: math::Vector3d Direction() const override;
 
-      public: virtual void SetDirection(const math::Vector3d &_dir);
+      public: void SetDirection(const math::Vector3d &_dir) override;
 
-      public: virtual math::Angle InnerAngle() const;
+      public: math::Angle InnerAngle() const override;
 
-      public: virtual void SetInnerAngle(const math::Angle &_angle);
+      public: void SetInnerAngle(const math::Angle &_angle) override;
 
-      public: virtual math::Angle OuterAngle() const;
+      public: math::Angle OuterAngle() const override;
 
-      public: virtual void SetOuterAngle(const math::Angle &_angle);
+      public: void SetOuterAngle(const math::Angle &_angle) override;
 
-      public: virtual double Falloff() const;
+      public: double Falloff() const override;
 
-      public: virtual void SetFalloff(double _falloff);
+      public: void SetFalloff(double _falloff) override;
 
       private: friend class OgreScene;
     };
diff --git a/ogre/include/gz/rendering/ogre/OgreProjector.hh b/ogre/include/gz/rendering/ogre/OgreProjector.hh
index b91938ce1..cdec9b02f 100644
--- a/ogre/include/gz/rendering/ogre/OgreProjector.hh
+++ b/ogre/include/gz/rendering/ogre/OgreProjector.hh
@@ -53,7 +53,7 @@ namespace gz
       /// we handle the decal's visibility in each of these cameras' view
       private: void UpdateCameraListener();
 
-      /// \brief Only the ogre scene can instanstiate this class
+      /// \brief Only the ogre scene can instantiate this class
       private: friend class OgreScene;
 
       /// \cond warning
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh b/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
index 457c448ba..5dad3b0d3 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
@@ -58,11 +58,11 @@ namespace gz
 
       /// \brief Get the name of the render engine loaded by this plugin.
       /// \return Name of render engine
-      public: std::string Name() const;
+      public: std::string Name() const override;
 
       /// \brief Get a pointer to the render engine loaded by this plugin.
       /// \return Render engine instance
-      public: RenderEngine *Engine() const;
+      public: RenderEngine *Engine() const override;
     };
 
     class GZ_RENDERING_OGRE_VISIBLE OgreRenderEngine :
diff --git a/ogre/src/OgreConversions.cc b/ogre/src/OgreConversions.cc
index 1362cfe38..58200d246 100644
--- a/ogre/src/OgreConversions.cc
+++ b/ogre/src/OgreConversions.cc
@@ -22,7 +22,7 @@ using namespace rendering;
 //////////////////////////////////////////////////
 const Ogre::PixelFormat OgreConversions::ogrePixelFormats[PF_COUNT] =
     {
-      // UKNOWN
+      // UNKNOWN
       Ogre::PF_UNKNOWN,
       // L8
       Ogre::PF_L8,
diff --git a/ogre/src/OgreDistortionPass.cc b/ogre/src/OgreDistortionPass.cc
index e6fa6fa87..ed53ce0f6 100644
--- a/ogre/src/OgreDistortionPass.cc
+++ b/ogre/src/OgreDistortionPass.cc
@@ -181,7 +181,7 @@ void OgreDistortionPass::CreateRenderPass()
 
   // initialize distortion map
   this->dataPtr->distortionMap.resize(imageSize);
-  for (unsigned int i = 0; i < this->dataPtr->distortionMap.size(); ++i)
+  for (size_t i = 0; i < this->dataPtr->distortionMap.size(); ++i)
   {
     this->dataPtr->distortionMap[i] = -1;
   }
diff --git a/ogre/src/OgreFrustumVisual.cc b/ogre/src/OgreFrustumVisual.cc
index 0e3594842..6bb96c63e 100644
--- a/ogre/src/OgreFrustumVisual.cc
+++ b/ogre/src/OgreFrustumVisual.cc
@@ -33,13 +33,6 @@ class gz::rendering::OgreFrustumVisualPrivate
 
   /// \brief The visibility of the visual
   public: bool visible = true;
-
-  /// \brief Each corner of the frustum.
-  public: std::array<gz::math::Vector3d, 8> points;
-
-  /// \brief each edge of the frustum.
-  public: std::array<std::pair<gz::math::Vector3d,
-    gz::math::Vector3d>, 12> edges;
 };
 
 using namespace gz;
diff --git a/ogre/src/OgreHeightmap.cc b/ogre/src/OgreHeightmap.cc
index 6a959f7dc..f90c2005c 100644
--- a/ogre/src/OgreHeightmap.cc
+++ b/ogre/src/OgreHeightmap.cc
@@ -1098,9 +1098,8 @@ bool OgreHeightmap::InitBlendMaps(Ogre::Terrain *_terrain)
   // Create the blend maps
   std::vector<Ogre::TerrainLayerBlendMap *> blendMaps;
   std::vector<float*> pBlend;
-  unsigned int i{0u};
 
-  for (i = 0; i < this->descriptor.BlendCount(); ++i)
+  for (uint64_t i = 0; i < this->descriptor.BlendCount(); ++i)
   {
     blendMaps.push_back(_terrain->getLayerBlendMap(i+1));
     pBlend.push_back(blendMaps[i]->getBlendPointer());
@@ -1117,7 +1116,7 @@ bool OgreHeightmap::InitBlendMaps(Ogre::Terrain *_terrain)
       blendMaps[0]->convertImageToTerrainSpace(x, y, &tx, &ty);
       height = _terrain->getHeightAtTerrainPosition(tx, ty);
 
-      for (i = 0; i < this->descriptor.BlendCount(); ++i)
+      for (uint64_t i = 0; i < this->descriptor.BlendCount(); ++i)
       {
         auto blend = this->descriptor.BlendByIndex(i);
         val = (height - blend->MinHeight()) / blend->FadeDistance();
diff --git a/ogre/src/OgreLidarVisual.cc b/ogre/src/OgreLidarVisual.cc
index 80c2706b7..4fcdbd146 100644
--- a/ogre/src/OgreLidarVisual.cc
+++ b/ogre/src/OgreLidarVisual.cc
@@ -156,7 +156,7 @@ void OgreLidarVisual::SetPoints(const std::vector<double> &_points)
 {
   this->dataPtr->lidarPoints = _points;
   this->dataPtr->pointColors.clear();
-  for (unsigned int i = 0u; i < this->dataPtr->lidarPoints.size(); ++i)
+  for (size_t i = 0u; i < this->dataPtr->lidarPoints.size(); ++i)
   {
     this->dataPtr->pointColors.push_back(gz::math::Color::Blue);
   }
diff --git a/ogre/src/OgreMaterial.cc b/ogre/src/OgreMaterial.cc
index 1b442f294..bbbf6e9d5 100644
--- a/ogre/src/OgreMaterial.cc
+++ b/ogre/src/OgreMaterial.cc
@@ -68,8 +68,8 @@ void OgreMaterial::Destroy()
   }
 #endif
   auto &textureManager = Ogre::TextureManager::getSingleton();
-  auto iend = textureManager.getResourceIterator().end();
-  for (auto i = textureManager.getResourceIterator().begin(); i != iend;)
+  const auto iend = textureManager.getResourceIterator().end();
+  for (auto i = textureManager.getResourceIterator().begin(); i != iend; ++i)
   {
     // A use count of 4 means that only RGM, RM and MeshManager have
     // references RGM has one (this one) and RM has 2 (by name and by handle)
@@ -91,7 +91,6 @@ void OgreMaterial::Destroy()
         break;
       }
     }
-    ++i;
   }
 }
 
diff --git a/ogre/src/OgreMesh.cc b/ogre/src/OgreMesh.cc
index 9ac89f89a..fa5e62f53 100644
--- a/ogre/src/OgreMesh.cc
+++ b/ogre/src/OgreMesh.cc
@@ -64,8 +64,8 @@ void OgreMesh::Destroy()
   this->ogreEntity = nullptr;
 
   auto &meshManager = Ogre::MeshManager::getSingleton();
-  auto iend = meshManager.getResourceIterator().end();
-  for (auto i = meshManager.getResourceIterator().begin(); i != iend;)
+  const auto iend = meshManager.getResourceIterator().end();
+  for (auto i = meshManager.getResourceIterator().begin(); i != iend; ++i)
   {
     // A use count of 3 means that only RGM and RM have references
     // RGM has one (this one) and RM has 2 (by name and by handle)
@@ -78,7 +78,6 @@ void OgreMesh::Destroy()
         break;
       }
     }
-    i++;
   }
 }
 
diff --git a/ogre/src/OgreMeshFactory.cc b/ogre/src/OgreMeshFactory.cc
index ee610cc7f..db6a8a86b 100644
--- a/ogre/src/OgreMeshFactory.cc
+++ b/ogre/src/OgreMeshFactory.cc
@@ -128,15 +128,13 @@ void OgreMeshFactory::ClearMaterialsCache(const std::string &_name)
 bool OgreMeshFactory::LoadImpl(const MeshDescriptor &_desc)
 {
   Ogre::MeshPtr ogreMesh;
-  std::string name;
-  std::string group;
 
   OgreRenderEngine::Instance()->AddResourcePath(_desc.mesh->Path());
 
   try
   {
-    name = this->MeshName(_desc);
-    group = Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME;
+    const auto &name = this->MeshName(_desc);
+    const auto &group = Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME;
     ogreMesh = Ogre::MeshManager::getSingleton().createManual(name, group);
 
     // load skeleton
@@ -557,9 +555,9 @@ OgreSubMeshStoreFactory::~OgreSubMeshStoreFactory()
 OgreSubMeshStorePtr OgreSubMeshStoreFactory::Create()
 {
   OgreSubMeshStorePtr subMeshes(new OgreSubMeshStore);
-  unsigned int count = this->ogreEntity->getNumSubEntities();
+  const auto count = this->ogreEntity->getNumSubEntities();
 
-  for (unsigned int i = 0; i < count; ++i)
+  for (size_t i = 0; i < count; ++i)
   {
     OgreSubMeshPtr subMesh = this->CreateSubMesh(i);
     subMeshes->Add(subMesh);
@@ -602,10 +600,10 @@ void OgreSubMeshStoreFactory::CreateNameList()
 //////////////////////////////////////////////////
 void OgreSubMeshStoreFactory::PopulateDefaultNames()
 {
-  unsigned int count = this->ogreEntity->getNumSubEntities();
+  const auto count = this->ogreEntity->getNumSubEntities();
   this->names.reserve(count);
 
-  for (unsigned int i = 0; i < count; ++i)
+  for (size_t i = 0; i < count; ++i)
   {
     this->names.push_back("SubMesh(" + std::to_string(i) + ")");
   }
diff --git a/ogre/src/OgreProjector.cc b/ogre/src/OgreProjector.cc
index 77420633b..57aa7395d 100644
--- a/ogre/src/OgreProjector.cc
+++ b/ogre/src/OgreProjector.cc
@@ -194,7 +194,7 @@ namespace gz
       private: std::unordered_map<std::string, Ogre::Material *> matClones;
 
       /// \brief A set of visible materials in the frustum. Used when decal
-      /// has custom visiblility flags
+      /// has custom visibility flags
       private: std::unordered_set<std::string> visibleMaterials;
     };
     }
@@ -207,7 +207,7 @@ class gz::rendering::OgreProjector::Implementation
   /// \brief The projection frame listener.
   public: OgreProjectorListener projector;
 
-  /// \brief Indicate whether the projector is intialized or not
+  /// \brief Indicate whether the projector is initialized or not
   public: bool initialized{false};
 
   /// \brief A map of cameras (<Camera ptr, name>) that the listener has been
@@ -430,7 +430,7 @@ std::unordered_set<std::string> OgreProjectorListener::FindVisibleMaterials()
         entity->getUserObjectBindings().getUserAny().getType() ==
         typeid(unsigned int))
     {
-      for (unsigned int i = 0; i < entity->getNumSubEntities(); i++)
+      for (size_t i = 0; i < entity->getNumSubEntities(); i++)
       {
         newVisibleMaterials.insert(
           entity->getSubEntity(i)->getMaterialName());
@@ -575,15 +575,15 @@ void OgreProjector::UpdateCameraListener()
   // to all cameras
   if (this->VisibilityFlags() == GZ_VISIBILITY_ALL)
   {
-    for (auto &ogreCamIt : this->dataPtr->camerasWithListener)
+    for (const auto &ogreCamIt : this->dataPtr->camerasWithListener)
     {
-      Ogre::String camName = ogreCamIt.second;
+      const Ogre::String &camName = ogreCamIt.second;
       // instead of getting the camera pointer through ogreCamIt.first,
       // find camera pointer again to make sure the camera still exists
       // because there is a chance that we are holding onto a dangling pointer
       // if that camera was deleted already
       auto ogreCam = this->scene->OgreSceneManager()->getCamera(camName);
-          ogreCam->getViewport()->getTarget()->removeListener(
+      ogreCam->getViewport()->getTarget()->removeListener(
           &this->dataPtr->projector);
     }
     this->dataPtr->camerasWithListener.clear();
@@ -701,7 +701,7 @@ Ogre::Technique *OgreProjectorListener::handleSchemeNotFound(
   std::string projectedMaterialName =
       _originalMaterial->getName() + "_" + this->nodeName;
 
-  // check if the material for the current entity is visble in the frustum
+  // check if the material for the current entity is visible in the frustum
   if (this->visibleMaterials.find(_originalMaterial->getName())
       == this->visibleMaterials.end())
   {
@@ -721,7 +721,7 @@ Ogre::Technique *OgreProjectorListener::handleSchemeNotFound(
   if (it != this->matClones.end())
   {
     clone = it->second;
-    // if the clnoe material is in the view, that means it has the projected
+    // if the clone material is in the view, that means it has the projected
     // texture already
     if (this->projectorTargets.find(projectedMaterialName) !=
         this->projectorTargets.end())
diff --git a/ogre/src/OgreRTShaderSystem.cc b/ogre/src/OgreRTShaderSystem.cc
index cb7c0cbb2..932f2fede 100644
--- a/ogre/src/OgreRTShaderSystem.cc
+++ b/ogre/src/OgreRTShaderSystem.cc
@@ -43,7 +43,7 @@ class gz::rendering::OgreRTShaderSystemPrivate
   /// \brief Used to generate shadows.
   public: Ogre::RTShader::SubRenderState *shadowRenderState = nullptr;
 
-  /// \brief All the entites being used.
+  /// \brief All the entities being used.
   public: std::set<OgreSubMesh *> entities;
 
   /// \brief True if initialized.
@@ -331,7 +331,7 @@ void OgreRTShaderSystem::RemoveShaders(OgreSubMesh *_subMesh)
         if (curTechnique->getSchemeName() == srcTechniqueSchemeName)
         {
           bool hasFixedFunctionPass = false;
-          for (unsigned int i = 0; i < curTechnique->getNumPasses(); ++i)
+          for (size_t i = 0; i < curTechnique->getNumPasses(); ++i)
           {
             if (!curTechnique->getPass(i)->isProgrammable())
             {
@@ -351,7 +351,7 @@ void OgreRTShaderSystem::RemoveShaders(OgreSubMesh *_subMesh)
           s->Name() + Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
 #endif
     }
-    catch(Ogre::Exception &e)
+    catch(const Ogre::Exception &e)
     {
       gzerr << "Unable to remove shader technique for material["
         << curMaterialName << "]\n";
@@ -383,7 +383,7 @@ void OgreRTShaderSystem::GenerateShaders(OgreSubMesh *subMesh)
   const Ogre::String& curMaterialName = curSubEntity->getMaterialName();
   bool success = false;
 
-  for (unsigned int s = 0; s < this->dataPtr->scenes.size(); s++)
+  for (size_t s = 0; s < this->dataPtr->scenes.size(); s++)
   {
     try
     {
@@ -397,7 +397,7 @@ void OgreRTShaderSystem::GenerateShaders(OgreSubMesh *subMesh)
           this->dataPtr->scenes[s]->Name() +
           Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
     }
-    catch(Ogre::Exception &e)
+    catch(const Ogre::Exception &e)
     {
       gzerr << "Unable to create shader technique for material["
         << curMaterialName << "]\n";
@@ -660,7 +660,7 @@ void OgreRTShaderSystem::ApplyShadows(OgreScenePtr _scene)
 
   Ogre::RTShader::IntegratedPSSM3::SplitPointList dstSplitPoints;
 
-  for (unsigned int i = 0; i < srcSplitPoints.size(); ++i)
+  for (size_t i = 0; i < srcSplitPoints.size(); ++i)
   {
     dstSplitPoints.push_back(srcSplitPoints[i]);
   }
diff --git a/ogre/src/OgreRayQuery.cc b/ogre/src/OgreRayQuery.cc
index a54e6ebd6..0818026bf 100644
--- a/ogre/src/OgreRayQuery.cc
+++ b/ogre/src/OgreRayQuery.cc
@@ -167,7 +167,7 @@ RayQueryResult OgreRayQuery::ClosestPoint(bool /*_forceSceneUpdate*/) // NOLINT
             OgreConversions::Convert(
             ogreEntity->getParentNode()->_getDerivedScale()));
 
-        for (unsigned int i = 0; i < indexCount; i += 3)
+        for (size_t i = 0; i < indexCount; i += 3)
         {
           // when indices size is not divisible by 3
           if (i+2 >= indexCount)
@@ -221,7 +221,7 @@ void OgreRayQuery::MeshInformation(const Ogre::Mesh *_mesh,
   _vertex_count = _index_count = 0;
 
   // Calculate how many vertices and indices we're going to need
-  for (uint16_t i = 0; i < _mesh->getNumSubMeshes(); ++i)
+  for (size_t i = 0; i < _mesh->getNumSubMeshes(); ++i)
   {
     Ogre::SubMesh* submesh = _mesh->getSubMesh(i);
 
@@ -250,7 +250,7 @@ void OgreRayQuery::MeshInformation(const Ogre::Mesh *_mesh,
   added_shared = false;
 
   // Run through the submeshes again, adding the data into the arrays
-  for (uint16_t i = 0; i < _mesh->getNumSubMeshes(); ++i)
+  for (size_t i = 0; i < _mesh->getNumSubMeshes(); ++i)
   {
     Ogre::SubMesh* submesh = _mesh->getSubMesh(i);
 
diff --git a/ogre/src/OgreRenderPass.cc b/ogre/src/OgreRenderPass.cc
index dd0e2d97c..f1bc6d4fb 100644
--- a/ogre/src/OgreRenderPass.cc
+++ b/ogre/src/OgreRenderPass.cc
@@ -52,5 +52,5 @@ void OgreRenderPass::Destroy()
 //////////////////////////////////////////////////
 void OgreRenderPass::CreateRenderPass()
 {
-  // To be overriden by derived render pass classes
+  // To be overridden by derived render pass classes
 }
diff --git a/ogre/src/OgreText.cc b/ogre/src/OgreText.cc
index ee21125ec..0be8624e3 100644
--- a/ogre/src/OgreText.cc
+++ b/ogre/src/OgreText.cc
@@ -70,7 +70,7 @@ class gz::rendering::OgreMovableText
   /// \param[in] _height Baseline height
   public: void SetBaseline(const float _baseline);
 
-  /// \brief True = text always is displayed ontop.
+  /// \brief True = text always is displayed on top.
   /// \param[in] _show Set to true to render the text on top of
   /// all other drawables.
   public: void SetShowOnTop(const bool _onTop);
@@ -95,8 +95,8 @@ class gz::rendering::OgreMovableText
   public: void Update();
 
   /// \brief Set font name implementation.
-  /// \param-in] _font Name of font
-  public: void SetFontNameImpl(const std::string &_font);
+  /// \param-in] _newFontName Name of font
+  public: void SetFontNameImpl(const std::string &_newFontName);
 
   /// \internal
   /// \brief Method to allow a caller to abstractly iterate over the
@@ -111,7 +111,7 @@ class gz::rendering::OgreMovableText
   protected: void getWorldTransforms(Ogre::Matrix4 *_xform) const override;
 
   /// \internal
-  /// \brief Get the bounding radiu (from MovableObject)
+  /// \brief Get the bounding radius (from MovableObject)
   protected: float getBoundingRadius() const override;
 
   /// \internal
@@ -212,7 +212,7 @@ class gz::rendering::OgreMovableText
 /// \brief Private data for the OgreText class.
 class gz::rendering::OgreTextPrivate
 {
-  /// \brief Text materal
+  /// \brief Text material
   public: OgreMaterialPtr material;
 
   /// Pointer to ogre movable text object
@@ -420,7 +420,6 @@ void OgreMovableText::SetupGeometry()
   size_t offset = 0;
   float maxSquaredRadius = 0.0f;
   bool first = true;
-  std::string::iterator i;
   bool newLine = true;
   float len = 0.0f;
 
@@ -499,19 +498,19 @@ void OgreMovableText::SetupGeometry()
   {
     // Raise the first line of the caption
     top += this->charHeight;
-    for (i = this->text.begin(); i != this->text.end(); ++i)
+    for (auto it = this->text.begin(); it != this->text.end(); ++it)
     {
-      if (*i == '\n')
+      if (*it == '\n')
         top += this->charHeight * 2.0;
     }
   }
 
-  for (i = this->text.begin(); i != this->text.end(); ++i)
+  for (auto it = this->text.begin(); it != this->text.end(); ++it)
   {
     if (newLine)
     {
       len = 0.0;
-      for (std::string::iterator j = i; j != this->text.end(); ++j)
+      for (std::string::iterator j = it; j != this->text.end(); ++j)
       {
         Ogre::Font::CodePoint character = *j;
         if (character == '\n')
@@ -534,7 +533,7 @@ void OgreMovableText::SetupGeometry()
       newLine = false;
     }
 
-    Ogre::Font::CodePoint character = (*i);
+    Ogre::Font::CodePoint character = (*it);
     if (character == '\n')
     {
       left = 0.0;
@@ -559,7 +558,7 @@ void OgreMovableText::SetupGeometry()
     float horizHeight = this->font->getGlyphAspectRatio(character) *
                          this->viewportAspectCoef;
 
-    auto &uvRect = this->font->getGlyphTexCoords(character);
+    const auto &uvRect = this->font->getGlyphTexCoords(character);
 
     // each vert is (x, y, z, u, v)
     //------------------------------------------------------------------------
@@ -737,7 +736,6 @@ void OgreMovableText::UpdateColors()
   Ogre::RGBA clr;
   Ogre::HardwareVertexBufferSharedPtr vbuf;
   Ogre::RGBA *pDest{nullptr};
-  unsigned int i;
 
   GZ_ASSERT(this->font, "font class member is null");
 #if OGRE_VERSION_LT_1_11_0
@@ -757,7 +755,7 @@ void OgreMovableText::UpdateColors()
   pDest = static_cast<Ogre::RGBA*>(
       vbuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
 
-  for (i = 0; i < this->renderOp.vertexData->vertexCount; ++i)
+  for (Ogre::uint32 i = 0; i < this->renderOp.vertexData->vertexCount; ++i)
   {
     *pDest++ = clr;
   }
diff --git a/ogre/src/OgreVisual.cc b/ogre/src/OgreVisual.cc
index b50795c0a..9fc5fb287 100644
--- a/ogre/src/OgreVisual.cc
+++ b/ogre/src/OgreVisual.cc
@@ -55,8 +55,7 @@ void OgreVisual::SetWireframe(bool _show)
     return;
 
   this->dataPtr->wireframe = _show;
-  for (unsigned int i = 0; i < this->ogreNode->numAttachedObjects();
-      i++)
+  for (size_t i = 0; i < this->ogreNode->numAttachedObjects(); ++i)
   {
     Ogre::MovableObject *obj = this->ogreNode->getAttachedObject(i);
     Ogre::Entity *entity = dynamic_cast<Ogre::Entity *>(obj);
@@ -64,26 +63,24 @@ void OgreVisual::SetWireframe(bool _show)
     if (!entity)
       continue;
 
-    for (unsigned int j = 0; j < entity->getNumSubEntities(); j++)
+    for (size_t j = 0; j < entity->getNumSubEntities(); ++j)
     {
       Ogre::SubEntity *subEntity = entity->getSubEntity(j);
       Ogre::MaterialPtr entityMaterial = subEntity->getMaterial();
       if (entityMaterial.isNull())
         continue;
 
-      unsigned int techniqueCount, passCount;
-      Ogre::Technique *technique;
-      Ogre::Pass *pass;
-
-      for (techniqueCount = 0;
+      for (size_t techniqueCount = 0;
            techniqueCount < entityMaterial->getNumTechniques();
            ++techniqueCount)
       {
-        technique = entityMaterial->getTechnique(techniqueCount);
+        Ogre::Technique *technique =
+            entityMaterial->getTechnique(techniqueCount);
 
-        for (passCount = 0; passCount < technique->getNumPasses(); passCount++)
+        for (size_t passCount = 0;
+             passCount < technique->getNumPasses(); ++passCount)
         {
-          pass = technique->getPass(passCount);
+          Ogre::Pass *pass = technique->getPass(passCount);
           if (_show)
             pass->setPolygonMode(Ogre::PM_WIREFRAME);
           else
@@ -117,7 +114,7 @@ void OgreVisual::SetVisibilityFlags(uint32_t _flags)
   if (!this->ogreNode)
     return;
 
-  for (unsigned int i = 0; i < this->ogreNode->numAttachedObjects(); ++i)
+  for (size_t i = 0; i < this->ogreNode->numAttachedObjects(); ++i)
     this->ogreNode->getAttachedObject(i)->setVisibilityFlags(_flags);
 }
 
@@ -230,7 +227,7 @@ void OgreVisual::BoundsHelper(gz::math::AxisAlignedBox &_box,
 
   gz::math::Vector3d scale = this->WorldScale();
 
-  for (int i = 0; i < this->ogreNode->numAttachedObjects(); i++)
+  for (size_t i = 0; i < this->ogreNode->numAttachedObjects(); i++)
   {
     Ogre::MovableObject *obj = this->ogreNode->getAttachedObject(i);
 
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh b/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
index aeffb6cad..782f6944f 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
@@ -18,6 +18,7 @@
 #ifndef GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
 #define GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
 
+#include <functional>
 #include <string>
 #include <memory>
 
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
index 6f7a44906..f0c392fd6 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
@@ -44,22 +44,22 @@ namespace gz
       protected: Ogre2Grid();
 
       /// \brief Destructor
-      public: virtual ~Ogre2Grid();
+      public: ~Ogre2Grid() override;
 
       // Documentation inherited.
-      public: virtual void Init();
+      public: void Init() override;
 
       // Documentation inherited.
-      public: virtual Ogre::MovableObject *OgreObject() const;
+      public: Ogre::MovableObject *OgreObject() const override;
 
       // Documentation inherited.
-      public: virtual void PreRender();
+      public: void PreRender() override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: MaterialPtr Material() const override;
 
       // Documentation inherited.
-      public: virtual void SetMaterial(MaterialPtr _material, bool _unique);
+      public: void SetMaterial(MaterialPtr _material, bool _unique) override;
 
       /// \brief Set material to grid geometry.
       /// \param[in] _material Ogre material.
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2ParticleEmitter.hh b/ogre2/include/gz/rendering/ogre2/Ogre2ParticleEmitter.hh
index 7ff5d0068..fae245050 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2ParticleEmitter.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2ParticleEmitter.hh
@@ -99,7 +99,7 @@ namespace gz
       /// \brief Create the particle system
       private: void CreateParticleSystem();
 
-      /// \brief Only the ogre scene can instanstiate this class
+      /// \brief Only the ogre scene can instantiate this class
       private: friend class Ogre2Scene;
 
       /// \brief Private data class
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
index 821419ab2..e2262d39d 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
@@ -71,11 +71,11 @@ namespace gz
 
       /// \brief Get the name of the render engine loaded by this plugin.
       /// \return Name of render engine
-      public: std::string Name() const;
+      public: std::string Name() const override;
 
       /// \brief Get a pointer to the render engine loaded by this plugin.
       /// \return Render engine instance
-      public: RenderEngine *Engine() const;
+      public: RenderEngine *Engine() const override;
     };
 
     /// \brief Ogre2 render engine class. A singleton class that manages the
@@ -181,7 +181,7 @@ namespace gz
       /// \brief Create the resources needed by ogre
       private: void CreateResources();
 
-      /// \brief Attempt to initialize engine and catch exeption if they occur
+      /// \brief Attempt to initialize engine and catch exception if they occur
       private: void InitAttempt();
 
       /// \brief Get a list of all supported FSAA levels for this render system
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
index 581b561a9..029991b73 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
@@ -46,7 +46,7 @@ namespace gz
     /// The ogre2 compositor chain in gz-rendering is set up as follows:
     ///  * Base scene pass -> [0..N] RenderPass'es -> Final compositor pass.
     /// This is set up by Ogre2RenderTarget which loads the compositor workspace
-    /// definiton from script. The base scene pass node is responsible for
+    /// definition from script. The base scene pass node is responsible for
     /// rendering the initial scene and passes its output to any RenderPass'es
     /// that are added to the RenderTarget. Each RenderPass has its own ogre
     /// compositor node that receives the output from the previous RenderPass
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
index 34303f033..f5e9b5c0e 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
@@ -83,11 +83,11 @@ namespace gz
       /// when the requested scheme is not found
       /// \param[in] _schemeIndex Index of scheme requested
       /// \param[in] _schemeName Name of scheme requested
-      /// \param[in] _originalMaterial Orignal material that does not contain
+      /// \param[in] _originalMaterial Original material that does not contain
       /// the requested scheme
       /// \param[in] _lodIndex The material level-of-detail
       /// \param[in] _rend Pointer to the Ogre::Renderable object requesting
-      /// the use of the techinique
+      /// the use of the technique
       /// \return The Ogre material technique to use when scheme is not found.
       public: virtual Ogre::Technique *handleSchemeNotFound(
                   uint16_t _schemeIndex, const Ogre::String &_schemeName,
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
index 61a58cd05..96b3b9236 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
@@ -104,7 +104,7 @@ namespace gz
 
       // Documentation inherited
       public: bool SetShadowTextureSize(LightType _lightType,
-            unsigned int _textureSize);
+            unsigned int _textureSize) override;
 
       // Documentation inherited
       public: unsigned int ShadowTextureSize(LightType _lightType) const
@@ -422,7 +422,7 @@ namespace gz
       /// \param[in] _compositorManager ogre compositor manager
       /// \param[in] _shadowNodeName Name of the shadow node definition
       /// \param[in] _shadowParams Parameters containing the shadow type,
-      /// texure resolution and position on the texture atlas.
+      /// texture resolution and position on the texture atlas.
       private: void CreateShadowNodeWithSettings(
           Ogre::CompositorManager2 *_compositorManager,
           const std::string &_shadowNodeName,
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
index cb1a2c62b..9cc202f22 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
@@ -26,7 +26,7 @@ namespace gz
   {
     inline namespace GZ_RENDERING_VERSION_NAMESPACE {
     //
-    /// \brief Ogre2.x implementation of the sensor classs
+    /// \brief Ogre2.x implementation of the sensor class
     class GZ_RENDERING_OGRE2_VISIBLE Ogre2Sensor :
       public BaseSensor<Ogre2Node>
     {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh
index 2979ddec7..c026ee03e 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh
@@ -81,7 +81,7 @@ namespace gz
       public: void SetEnvTextureSize(uint32_t _size);
 
       /// \brief Project 3D world coordinates to screen coordinates
-      /// \param[in] _pt 3D world coodinates
+      /// \param[in] _pt 3D world coordinates
       /// \return Screen coordinates. Z is the distance of point from camera
       /// optical center.
       public: math::Vector3d Project3d(const math::Vector3d &_pt) const
diff --git a/ogre2/src/Ogre2BoundingBoxCamera.cc b/ogre2/src/Ogre2BoundingBoxCamera.cc
index 913b3714b..109ac9e60 100644
--- a/ogre2/src/Ogre2BoundingBoxCamera.cc
+++ b/ogre2/src/Ogre2BoundingBoxCamera.cc
@@ -151,7 +151,7 @@ class gz::rendering::Ogre2BoundingBoxCameraPrivate
       parentNameToBoxes;
 
   /// \brief Keep track of the visible bounding boxes (used in filtering)
-  /// Key: parent name, value: vector of ogre ids of it's childern
+  /// Key: parent name, value: vector of ogre ids of it's children
   public: std::map<std::string, std::vector<uint32_t>> parentNameToOgreIds;
 
   /// \brief The ogre item's 3d vertices from the vao(used in multi-link models)
@@ -506,7 +506,7 @@ void Ogre2BoundingBoxCamera::CreateBoundingBoxTexture()
       Ogre::GpuResidency::Resident);
 
   // Switch material to OGRE Ids map to use it to get the visible bboxes
-  // or to check visiblity in full bboxes
+  // or to check visibility in full bboxes
   this->dataPtr->ogreCamera->addListener(this->dataPtr->materialSwitcher.get());
 
   // workspace
@@ -738,7 +738,7 @@ void Ogre2BoundingBoxCameraPrivate::MeshVertices(
           // Convert to world coordinates
           vec = (oreintation * (vec * scale)) + position;
 
-          // Convert to camera view coordiantes
+          // Convert to camera view coordinates
           Ogre::Vector4 vec4(vec.x, vec.y, vec.z, 1);
           vec4 = viewMatrix * vec4;
 
@@ -1201,7 +1201,7 @@ void Ogre2BoundingBoxCamera::MeshMinimalBox(
         Ogre::Vector4 vec4(vec.x, vec.y, vec.z, 1);
         vec4 =  _projMatrix * _viewMatrix * vec4;
 
-        // homogenous
+        // homogeneous
         vec.x = vec4.x / vec4.w;
         vec.y = vec4.y / vec4.w;
         vec.z = vec4.z;
@@ -1403,6 +1403,7 @@ void Ogre2BoundingBoxCamera::DrawBoundingBox(unsigned char *_data,
     uint32_t height = this->ImageHeight();
 
     std::vector<math::Vector2i> projVertices;
+    projVertices.reserve(clippedVertices.size());
     for (auto &vertex : clippedVertices)
     {
       // convert from [-1, 1] range to [0, 1] range & to the screen range
@@ -1418,7 +1419,7 @@ void Ogre2BoundingBoxCamera::DrawBoundingBox(unsigned char *_data,
           static_cast<int>(vertex.Y())));
     }
 
-    for (unsigned int endPt = 0; endPt < projVertices.size(); endPt += 2)
+    for (size_t endPt = 0; endPt < projVertices.size(); endPt += 2)
     {
       this->DrawLine(_data, projVertices[endPt], projVertices[endPt + 1],
           _color);
@@ -1486,7 +1487,7 @@ void Ogre2BoundingBoxCamera::ConvertToScreenCoord(
   _maxVertex.x = (_maxVertex.x + 1.0) / 2 * width;
   _maxVertex.y = (1.0 - _maxVertex.y) / 2 * height;
 
-  // clip outside screen boundries
+  // clip outside screen boundaries
   _minVertex.x = std::max<float>(0.0, _minVertex.x);
   _minVertex.y = std::max<float>(0.0, _minVertex.y);
   _maxVertex.x = std::min<float>(_maxVertex.x, width - 1.0);
diff --git a/ogre2/src/Ogre2BoundingBoxMaterialSwitcher.cc b/ogre2/src/Ogre2BoundingBoxMaterialSwitcher.cc
index d3f745b10..da02a8bac 100644
--- a/ogre2/src/Ogre2BoundingBoxMaterialSwitcher.cc
+++ b/ogre2/src/Ogre2BoundingBoxMaterialSwitcher.cc
@@ -137,7 +137,7 @@ void Ogre2BoundingBoxMaterialSwitcher::cameraPreRenderScene(
       // Material color
       auto customParameter = Ogre::Vector4(ogreId2, ogreId1, labelColor, 1.0);
 
-      // Multi-links models handeling
+      // Multi-links models handling
       auto itemName = visual->Name();
       std::string parentName = this->TopLevelModelVisual(visual)->Name();
 
diff --git a/ogre2/src/Ogre2Conversions.cc b/ogre2/src/Ogre2Conversions.cc
index f2f9f325e..0ee1d9e9e 100644
--- a/ogre2/src/Ogre2Conversions.cc
+++ b/ogre2/src/Ogre2Conversions.cc
@@ -30,7 +30,7 @@ using namespace rendering;
 //////////////////////////////////////////////////
 const Ogre::PixelFormatGpu Ogre2Conversions::ogrePixelFormats[PF_COUNT] =
     {
-      // UKNOWN
+      // UNKNOWN
       Ogre::PFG_UNKNOWN,
       // L8
       Ogre::PFG_R8_UNORM,
diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
index 04a7e7e3d..f40a41ec9 100644
--- a/ogre2/src/Ogre2DepthCamera.cc
+++ b/ogre2/src/Ogre2DepthCamera.cc
@@ -1076,7 +1076,7 @@ void Ogre2DepthCamera::PreRender()
     colorPasses[0]->mExecutionMask =
       (this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
       ~this->dataPtr->kDepthExecutionMask :this->dataPtr->kDepthExecutionMask;
-    for (unsigned int i = 1; i < colorPasses.size(); ++i)
+    for (size_t i = 1; i < colorPasses.size(); ++i)
     {
       colorPasses[i]->mExecutionMask =
           (this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
diff --git a/ogre2/src/Ogre2GpuRays.cc b/ogre2/src/Ogre2GpuRays.cc
index 0d174bbea..7365a9a62 100644
--- a/ogre2/src/Ogre2GpuRays.cc
+++ b/ogre2/src/Ogre2GpuRays.cc
@@ -877,13 +877,13 @@ void Ogre2GpuRays::CreateSampleTexture()
   int index = 0;
   for (unsigned int i = 0; i < this->dataPtr->h2nd; ++i)
   {
+    const math::Quaterniond pitch(math::Vector3d(1, 0, 0), -v);
     double h = min;
     for (unsigned int j = 0; j < this->dataPtr->w2nd; ++j)
     {
       // set up dir vector to sample from a standard Y up cubemap
       math::Vector3d ray(0, 0, 1);
-      ray.Normalize();
-      math::Quaterniond pitch(math::Vector3d(1, 0, 0), -v);
+
       math::Quaterniond yaw(math::Vector3d(0, 1, 0), -h);
       math::Vector3d dir = yaw * pitch * ray;
       unsigned int faceIdx;
diff --git a/ogre2/src/Ogre2LensFlarePass.cc b/ogre2/src/Ogre2LensFlarePass.cc
index 8f913dc92..a997d362a 100644
--- a/ogre2/src/Ogre2LensFlarePass.cc
+++ b/ogre2/src/Ogre2LensFlarePass.cc
@@ -178,7 +178,7 @@ void Ogre2LensFlarePass::PostRender()
   Ogre2WideAngleCameraPtr wideAngleCamera =
     std::dynamic_pointer_cast<Ogre2WideAngleCamera>(
       this->dataPtr->currentCamera);
-  // WideAngleCamera is supposed to rendered 6 times. Nothin more, nothing less.
+  // WideAngleCamera is supposed to rendered 6 times.
   // Normal cameras are supposed to be rendered 1 time.
   GZ_ASSERT((!wideAngleCamera && this->dataPtr->currentFaceIdx == 1u) ||
               (wideAngleCamera && this->WideAngleCameraAfterStitching() &&
diff --git a/ogre2/src/Ogre2Marker.cc b/ogre2/src/Ogre2Marker.cc
index 6c379205b..6aff17f8d 100644
--- a/ogre2/src/Ogre2Marker.cc
+++ b/ogre2/src/Ogre2Marker.cc
@@ -225,8 +225,6 @@ void Ogre2Marker::SetMaterial(MaterialPtr _material, bool _unique)
     return;
   }
 
-  std::string materialName = derived->Name();
-
   derived->SetReceiveShadows(false);
   derived->SetCastShadows(false);
   derived->SetLightingEnabled(false);
diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc
index 945d07c52..b806107ae 100644
--- a/ogre2/src/Ogre2Material.cc
+++ b/ogre2/src/Ogre2Material.cc
@@ -803,7 +803,7 @@ void Ogre2Material::ClearLightMap()
   this->dataPtr->lightMapData = nullptr;
   this->lightMapUvSet = 0u;
 
-  // in ogre 2.2, we swtiched to use the emissive map slot for light map
+  // in ogre 2.2, we switched to use the emissive map slot for light map
   if (this->ogreDatablock->getUseEmissiveAsLightmap())
     this->ogreDatablock->setTexture(Ogre::PBSM_EMISSIVE, this->lightMapName);
   this->ogreDatablock->setUseEmissiveAsLightmap(false);
@@ -1127,7 +1127,6 @@ void Ogre2Material::SetTextureMapImpl(const std::string &_texture,
     // check for 8 bit pixel
     if (img.BPP() == 8u)
     {
-      std::string parentPath = common::parentPath(_texture);
       // set a custom name for the rgb texture by appending gz_ prefix
       std::string rgbTexName = "gz_" + baseName;
       baseName = rgbTexName;
@@ -1329,7 +1328,7 @@ void Ogre2Material::Init()
 
   if (!this->ogreHlmsPbs)
   {
-    gzerr << "Ogre HLMS PBS not ready. Is Ogre2 Render Engine initiallized?"
+    gzerr << "Ogre HLMS PBS not ready. Is Ogre2 Render Engine initialized?"
            << std::endl;
     return;
   }
@@ -1396,7 +1395,7 @@ Ogre::HlmsUnlitDatablock *Ogre2Material::UnlitDatablock()
     if (!ogreHlmsUnlit)
     {
       gzerr << "Ogre HLMS UNLIT not ready. Is Ogre2 Render Engine "
-             << "initiallized?" << std::endl;
+             << "initialized?" << std::endl;
       return nullptr;
     }
 
@@ -1607,7 +1606,7 @@ ShaderParamsPtr Ogre2Material::FragmentShaderParams()
 void Ogre2MaterialPrivate::PrepareForNormalMapping(Ogre::TextureGpu *_texture,
     Ogre::Image2 &_image)
 {
-  // code adpated from PrepareForNormalMapping::_executeStreaming function in
+  // code adapted from PrepareForNormalMapping::_executeStreaming function in
   // OgreMain/src/OgreTextureFilters.cpp (v2-3)
   const Ogre::uint8 numMipmaps = _image.getNumMipmaps();
   const Ogre::PixelFormatGpu dstFormat = Ogre::PFG_RG8_SNORM;
@@ -1651,7 +1650,7 @@ void Ogre2MaterialPrivate::PrepareForNormalMapping(Ogre::TextureGpu *_texture,
 //////////////////////////////////////////////////
 void Ogre2MaterialPrivate::AllocateMipmaps(Ogre::TextureGpu *_texture)
 {
-  // code adpated from GenerateHwMipmaps::_executeStreaming function in
+  // code adapted from GenerateHwMipmaps::_executeStreaming function in
   // OgreMain/src/OgreTextureFilters.cpp (v2-3)
   Ogre::uint8 maxMipmaps = Ogre::PixelFormatGpuUtils::getMaxMipmapCount(
       _texture->getWidth(),
@@ -1663,7 +1662,7 @@ void Ogre2MaterialPrivate::AllocateMipmaps(Ogre::TextureGpu *_texture)
 //////////////////////////////////////////////////
 void Ogre2MaterialPrivate::GenerateMipmaps(Ogre::TextureGpu *_texture)
 {
-  // code adpated from GenerateHwMipmaps::_executeSerial function in
+  // code adapted from GenerateHwMipmaps::_executeSerial function in
   // OgreMain/src/OgreTextureFilters.cpp (v2-3)
   Ogre::TextureGpuManager *textureManager = _texture->getTextureManager();
   Ogre::TextureGpu *tempTexture = textureManager->createTexture(
diff --git a/ogre2/src/Ogre2MeshFactory.cc b/ogre2/src/Ogre2MeshFactory.cc
index d26810313..2296565a3 100644
--- a/ogre2/src/Ogre2MeshFactory.cc
+++ b/ogre2/src/Ogre2MeshFactory.cc
@@ -182,15 +182,13 @@ bool Ogre2MeshFactory::IsLoaded(const MeshDescriptor &_desc)
 bool Ogre2MeshFactory::LoadImpl(const MeshDescriptor &_desc)
 {
   Ogre::v1::MeshPtr ogreMesh;
-  std::string name;
-  std::string group;
 
   Ogre2RenderEngine::Instance()->AddResourcePath(_desc.mesh->Path());
 
   try
   {
-    name = this->MeshName(_desc);
-    group = Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME;
+    const auto &name = this->MeshName(_desc);
+    const auto &group = Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME;
     ogreMesh = Ogre::v1::MeshManager::getSingleton().createManual(name, group);
 
     // load skeleton
diff --git a/ogre2/src/Ogre2ParticleEmitter.cc b/ogre2/src/Ogre2ParticleEmitter.cc
index 2e87d96d9..b5ec6d76b 100644
--- a/ogre2/src/Ogre2ParticleEmitter.cc
+++ b/ogre2/src/Ogre2ParticleEmitter.cc
@@ -487,6 +487,8 @@ void Ogre2ParticleEmitter::CreateParticleSystem()
              "The number of supported emitters does not match the number of "
              "Ogre emitter types.");
 
+  GZ_ASSERT(this->type < kOgreEmitterTypes.size(), "Unknown emitter type");
+
   // Instantiate particle emitter and their default parameters.
   // Emitter type is point unless otherwise specified.
   this->dataPtr->emitter =
diff --git a/ogre2/src/Ogre2Projector.cc b/ogre2/src/Ogre2Projector.cc
index 56b99d7ce..ca2fec956 100644
--- a/ogre2/src/Ogre2Projector.cc
+++ b/ogre2/src/Ogre2Projector.cc
@@ -87,7 +87,7 @@ class gz::rendering::Ogre2Projector::Implementation
   /// \brief Decal - Texture projected onto a surface
   public: Ogre::Decal *decal{nullptr};
 
-  /// \brief Indicate whether the projector is intialized or not
+  /// \brief Indicate whether the projector is initialized or not
   public: bool initialized{false};
 
   /// \brief A map of cameras (<Camera ptr, name>) that the listener has been
diff --git a/ogre2/src/Ogre2RayQuery.cc b/ogre2/src/Ogre2RayQuery.cc
index 6f7b25c14..943dfa656 100644
--- a/ogre2/src/Ogre2RayQuery.cc
+++ b/ogre2/src/Ogre2RayQuery.cc
@@ -107,7 +107,7 @@ Ogre2RayQuery::~Ogre2RayQuery()
 void Ogre2RayQuery::SetFromCamera(const CameraPtr &_camera,
     const math::Vector2d &_coord)
 {
-  // convert to nomalized screen pos for ogre
+  // convert to normalized screen pos for ogre
   math::Vector2d screenPos((_coord.X() + 1.0) / 2.0, (_coord.Y() - 1.0) / -2.0);
 
   Ogre2CameraPtr camera = std::dynamic_pointer_cast<Ogre2Camera>(_camera);
@@ -160,7 +160,7 @@ void Ogre2RayQuery::SetFromCamera(const WideAngleCameraPtr &_camera,
                                   uint32_t _faceIdx,
                                   const math::Vector2d &_coord)
 {
-  // convert to nomalized screen pos for ogre
+  // convert to normalized screen pos for ogre
   math::Vector2d screenPos((_coord.X() + 1.0) / 2.0, (_coord.Y() - 1.0) / -2.0);
 
   Ogre2WideAngleCameraPtr camera =
@@ -322,7 +322,7 @@ class GZ_RENDERING_OGRE2_HIDDEN ThreadedTriRay final
   }
 
   // Documentation inherited
-  public: void execute(size_t threadId, size_t numThreads) override;
+  public: void execute(size_t _threadId, size_t _numThreads) override;
 
   /// \brief To be run after parallel execution is done. It will iterate
   /// through the results of every thread and return the closest match
@@ -362,7 +362,7 @@ void ThreadedTriRay::execute(size_t _threadId, size_t _numThreads)
       std::string meshName = ogreItem->getMesh()->getName();
       size_t idx = meshName.find("::");
       if (idx != std::string::npos)
-        meshName = meshName.substr(0, idx);
+        meshName.resize(idx);
 
       const common::Mesh *mesh =
         common::MeshManager::Instance()->MeshByName(meshName);
diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc
index 24fbb1cf8..6fdaedd58 100644
--- a/ogre2/src/Ogre2RenderEngine.cc
+++ b/ogre2/src/Ogre2RenderEngine.cc
@@ -959,7 +959,7 @@ void Ogre2RenderEngine::RegisterHlms()
       &this->dataPtr->sphericalClipMinDistance);
     Ogre::Root::getSingleton().getHlmsManager()->registerHlms(hlmsUnlit);
 
-    // disable writting debug output to disk
+    // disable writing debug output to disk
     hlmsUnlit->setDebugOutputPath(false, false);
     hlmsUnlit->setListener(hlmsUnlit);
 
@@ -1004,7 +1004,7 @@ void Ogre2RenderEngine::RegisterHlms()
                                      this->dataPtr->hlmsPbsTerraShadows.get());
     Ogre::Root::getSingleton().getHlmsManager()->registerHlms(hlmsPbs);
 
-    // disable writting debug output to disk
+    // disable writing debug output to disk
     hlmsPbs->setDebugOutputPath(false, false);
     hlmsPbs->setListener(hlmsPbs);
 
@@ -1039,7 +1039,7 @@ void Ogre2RenderEngine::RegisterHlms()
       &this->dataPtr->sphericalClipMinDistance);
     Ogre::Root::getSingleton().getHlmsManager()->registerHlms(hlmsTerra);
 
-    // disable writting debug output to disk
+    // disable writing debug output to disk
     hlmsTerra->setDebugOutputPath(false, false);
     hlmsTerra->setListener(hlmsTerra);
 
diff --git a/ogre2/src/Ogre2RenderPass.cc b/ogre2/src/Ogre2RenderPass.cc
index c85f6afe9..ea244c175 100644
--- a/ogre2/src/Ogre2RenderPass.cc
+++ b/ogre2/src/Ogre2RenderPass.cc
@@ -43,19 +43,19 @@ void Ogre2RenderPass::Destroy()
 //////////////////////////////////////////////////
 void Ogre2RenderPass::WorkspaceAdded(Ogre::CompositorWorkspace *)
 {
-  // To be overriden by derived render pass classes
+  // To be overridden by derived render pass classes
 }
 
 //////////////////////////////////////////////////
 void Ogre2RenderPass::WorkspaceRemoved(Ogre::CompositorWorkspace *)
 {
-  // To be overriden by derived render pass classes
+  // To be overridden by derived render pass classes
 }
 
 //////////////////////////////////////////////////
 void Ogre2RenderPass::CreateRenderPass()
 {
-  // To be overriden by derived render pass classes
+  // To be overridden by derived render pass classes
 }
 
 //////////////////////////////////////////////////
diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
index 204303385..fe764d1b3 100644
--- a/ogre2/src/Ogre2Scene.cc
+++ b/ogre2/src/Ogre2Scene.cc
@@ -1453,7 +1453,7 @@ GlobalIlluminationCiVctPtr Ogre2Scene::CreateGlobalIlluminationCiVctImpl(
 bool Ogre2Scene::InitObject(Ogre2ObjectPtr _object, unsigned int _id,
     const std::string &_name)
 {
-  // assign needed varibles
+  // assign needed variables
   _object->id = _id;
   _object->name = _name;
   _object->scene = this->SharedThis();
diff --git a/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc b/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc
index 1c397e51e..6c8cb9b36 100644
--- a/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc
+++ b/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc
@@ -202,7 +202,7 @@ math::Color Ogre2SegmentationMaterialSwitcher::LabelToColor(int64_t _label,
   if (_isMultiLink)
     return color;
 
-  // loop recursivly till finding a unique color
+  // loop recursively till finding a unique color
   if (this->IsTakenColor(color))
       return this->LabelToColor(_label);
 
diff --git a/ogre2/src/Ogre2WideAngleCamera.cc b/ogre2/src/Ogre2WideAngleCamera.cc
index fe16f9b5b..efbea2b80 100644
--- a/ogre2/src/Ogre2WideAngleCamera.cc
+++ b/ogre2/src/Ogre2WideAngleCamera.cc
@@ -109,7 +109,7 @@ class gz::rendering::Ogre2WideAngleCamera::Implementation
   public: Ogre::TextureGpu *ogreTmpTextures[2]{};
 
   /// \brief Output texture with the the toutput for stitches
-  /// [kStichTmpTexture] = Temp 2D texture for ping poing effects
+  /// [kStichTmpTexture] = Temp 2D texture for ping point effects
   /// [kStichFinalTexture] = Output texture with the final output
   public: Ogre::TextureGpu *ogreStitchTexture[kNumStichTextures] =
   { nullptr, nullptr };
@@ -168,6 +168,10 @@ class gz::rendering::Ogre2WideAngleCamera::Implementation
   explicit Implementation(gz::rendering::Ogre2WideAngleCamera &_owner) :
     workspaceListener(_owner)
   {
+    for (unsigned int i = 0; i < 6; ++i)
+    {
+      this->ogreCompositorWorkspace[i] = nullptr;
+    }
   }
   // clang-format on
 };
@@ -183,10 +187,6 @@ static constexpr uint32_t kWideAngleCameraQuadPassId = 1276661u;
 Ogre2WideAngleCamera::Ogre2WideAngleCamera() :
   dataPtr(utils::MakeUniqueImpl<Implementation>(*this))
 {
-  for (unsigned int i = 0; i < 6; ++i)
-  {
-    this->dataPtr->ogreCompositorWorkspace[i] = nullptr;
-  }
 }
 
 //////////////////////////////////////////////////
diff --git a/src/CameraLens.cc b/src/CameraLens.cc
index b388e3ad8..8d8d6a2a1 100644
--- a/src/CameraLens.cc
+++ b/src/CameraLens.cc
@@ -114,11 +114,16 @@ class gz::rendering::CameraLens::Implementation
               return std::get<2>(value)(_f);
             }
 
+            /// \brief Copy constructor
+            public: MapFunctionEnum(const MapFunctionEnum &) = delete;
+
             /// \brief Assignment operator
             /// \param[in] _fun Rvalue
             /// \return Reference to (*this)
             public: MapFunctionEnum &operator=(const MapFunctionEnum &_fun)
             {
+              // from https://github.com/gazebosim/gz-rendering/pull/1227
+              // "`variants` is tmp variable and shouldn't be copied"
               this->value = _fun.value;
               return *this;
             }
diff --git a/src/OrbitViewController.cc b/src/OrbitViewController.cc
index 3712bdacd..a604baeea 100644
--- a/src/OrbitViewController.cc
+++ b/src/OrbitViewController.cc
@@ -15,6 +15,7 @@
  *
  */
 
+#include <algorithm>
 #include <cmath>
 
 #include <gz/common/Console.hh>
@@ -43,8 +44,8 @@ class gz::rendering::OrbitViewControllerPrivate
 using namespace gz;
 using namespace rendering;
 
-static const float PITCH_LIMIT_LOW = -static_cast<float>(GZ_PI)*0.5f + 0.001f;
-static const float PITCH_LIMIT_HIGH = static_cast<float>(GZ_PI)*0.5f - 0.001f;
+static constexpr double PITCH_LIMIT_LOW = -GZ_PI*0.5 + 0.001;
+static constexpr double PITCH_LIMIT_HIGH = GZ_PI*0.5 - 0.001;
 
 //////////////////////////////////////////////////
 OrbitViewController::OrbitViewController()
@@ -225,10 +226,5 @@ double OrbitViewControllerPrivate::NormalizeYaw(double _yaw)
 //////////////////////////////////////////////////
 double OrbitViewControllerPrivate::NormalizePitch(double _pitch)
 {
-  if (_pitch < PITCH_LIMIT_LOW)
-    _pitch = PITCH_LIMIT_LOW;
-  else if (_pitch > PITCH_LIMIT_HIGH)
-    _pitch = PITCH_LIMIT_HIGH;
-
-  return _pitch;
+  return std::clamp(_pitch, PITCH_LIMIT_LOW, PITCH_LIMIT_HIGH);
 }
diff --git a/src/RenderEngineManager.cc b/src/RenderEngineManager.cc
index 00b7909a3..168bd9752 100644
--- a/src/RenderEngineManager.cc
+++ b/src/RenderEngineManager.cc
@@ -188,12 +188,11 @@ std::vector<std::string> RenderEngineManager::LoadedEngines() const
 {
   std::lock_guard<std::recursive_mutex> lock(this->dataPtr->enginesMutex);
   std::vector<std::string> engines;
-  for (const auto &[name, engine] :  // NOLINT(whitespace/braces)
-      this->dataPtr->engines)
+  for (const auto &[name, engine] : this->dataPtr->engines)
   {
-    std::string n = name;
     if (nullptr != engine)
     {
+      std::string n = name;
       // gz-rendering3 changed loaded engine names to the actual lib name.
       // For backward compatibility, return engine name if it is one of the
       // default engines
diff --git a/src/TransformController.cc b/src/TransformController.cc
index 8cd43e4c0..f5ab8d93d 100644
--- a/src/TransformController.cc
+++ b/src/TransformController.cc
@@ -28,7 +28,7 @@
 class gz::rendering::TransformControllerPrivate
 {
   /// \brief Gizmo visual that provides translation, rotation, and scale
-  /// tandles for transformation
+  /// handles for transformation
   public: GizmoVisualPtr gizmoVisual;
 
   /// \brief Node to be transformed
@@ -50,7 +50,7 @@ class gz::rendering::TransformControllerPrivate
   /// \brief Current active axis of transformation
   public: gz::math::Vector3d axis;
 
-  /// \brief Flag to indicate that transfomation is in progress.
+  /// \brief Flag to indicate that transformation is in progress.
   public: bool active = false;
 
   /// \brief Initial pose of the node being transformed.
diff --git a/src/Utils.cc b/src/Utils.cc
index 4a0e85146..456c3109c 100644
--- a/src/Utils.cc
+++ b/src/Utils.cc
@@ -76,7 +76,7 @@ math::Vector3d screenToPlane(
     const math::Vector2i &_screenPos,
     const CameraPtr &_camera,
     const RayQueryPtr &_rayQuery,
-    const float offset)
+    const float _offset)
 {
   // Normalize point on the image
   double width = _camera->ImageWidth();
@@ -89,7 +89,7 @@ math::Vector3d screenToPlane(
   _rayQuery->SetFromCamera(
       _camera, math::Vector2d(nx, ny));
 
-  gz::math::Planed plane(gz::math::Vector3d(0, 0, 1), offset);
+  gz::math::Planed plane(gz::math::Vector3d(0, 0, 1), _offset);
 
   math::Vector3d origin = _rayQuery->Origin();
   math::Vector3d direction = _rayQuery->Direction();
@@ -128,42 +128,43 @@ gz::math::Matrix3d projectionToCameraIntrinsic(
 
 /////////////////////////////////////////////////
 gz::math::AxisAlignedBox transformAxisAlignedBox(
-    const gz::math::AxisAlignedBox &_bbox,
+    const gz::math::AxisAlignedBox &_box,
     const gz::math::Pose3d &_pose)
 {
-  auto center = _bbox.Center();
+  auto center = _box.Center();
 
   // Get the 8 corners of the bounding box.
   std::vector<gz::math::Vector3d> vertices;
-  vertices.push_back(center + gz::math::Vector3d(-_bbox.XLength()/2.0,
-                                                       _bbox.YLength()/2.0,
-                                                       _bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(_bbox.XLength()/2.0,
-                                                       _bbox.YLength()/2.0,
-                                                       _bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(-_bbox.XLength()/2.0,
-                                                       -_bbox.YLength()/2.0,
-                                                       _bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(_bbox.XLength()/2.0,
-                                                       -_bbox.YLength()/2.0,
-                                                       _bbox.ZLength()/2.0));
-
-  vertices.push_back(center + gz::math::Vector3d(-_bbox.XLength()/2.0,
-                                                       _bbox.YLength()/2.0,
-                                                       -_bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(_bbox.XLength()/2.0,
-                                                       _bbox.YLength()/2.0,
-                                                       -_bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(-_bbox.XLength()/2.0,
-                                                       -_bbox.YLength()/2.0,
-                                                       -_bbox.ZLength()/2.0));
-  vertices.push_back(center + gz::math::Vector3d(_bbox.XLength()/2.0,
-                                                       -_bbox.YLength()/2.0,
-                                                       -_bbox.ZLength()/2.0));
+  vertices.reserve(8);
+  vertices.push_back(center + gz::math::Vector3d(-_box.XLength()/2.0,
+                                                 _box.YLength()/2.0,
+                                                 _box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(_box.XLength()/2.0,
+                                                 _box.YLength()/2.0,
+                                                 _box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(-_box.XLength()/2.0,
+                                                 -_box.YLength()/2.0,
+                                                 _box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(_box.XLength()/2.0,
+                                                 -_box.YLength()/2.0,
+                                                 _box.ZLength()/2.0));
+
+  vertices.push_back(center + gz::math::Vector3d(-_box.XLength()/2.0,
+                                                 _box.YLength()/2.0,
+                                                 -_box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(_box.XLength()/2.0,
+                                                 _box.YLength()/2.0,
+                                                 -_box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(-_box.XLength()/2.0,
+                                                 -_box.YLength()/2.0,
+                                                 -_box.ZLength()/2.0));
+  vertices.push_back(center + gz::math::Vector3d(_box.XLength()/2.0,
+                                                 -_box.YLength()/2.0,
+                                                 -_box.ZLength()/2.0));
 
 
   // Transform corners.
-  for (unsigned int i = 0; i < vertices.size(); ++i)
+  for (size_t i = 0; i < vertices.size(); ++i)
   {
     auto &v = vertices[i];
     v = _pose.Rot() * v + _pose.Pos();
@@ -173,7 +174,7 @@ gz::math::AxisAlignedBox transformAxisAlignedBox(
   gz::math::Vector3d max = vertices[0];
 
   // find min / max of vertices
-  for (unsigned int i = 1; i < vertices.size(); ++i)
+  for (size_t i = 1; i < vertices.size(); ++i)
   {
     auto &v = vertices[i];