diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 388e3aa4eb3167b5064a456185c1bd1e030f6a2b..4936a1a7fd54e862b125645b397a5afded0761a7 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -240,7 +240,7 @@ class ProcessorVisualOdometry : public ProcessorTracker, public MotionProvider
 {
   public:
     ProcessorVisualOdometry(const YAML::Node& _params);
-    virtual ~ProcessorVisualOdometry() override {};
+    virtual ~ProcessorVisualOdometry() override{};
 
     TimeStamp       getTimeStamp() const override;
     VectorComposite getState(StateKeys _structure = "") const override;
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index c63f98259cdffa53a9e0ab8108f9e3db350c1c4a..3e1f2de78264c3d8893bdd20f7c7ddedb85e70bc 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -386,7 +386,8 @@ void ProcessorVisualOdometry::establishFactors()
 
             // std::cout << "NEW valid track \\o/" << std::endl;
             auto lmk_ptr = emplaceLandmarkTriangulation(feat_pi, track_kf);
-            if (not lmk_ptr) lmk_ptr = emplaceLandmarkNaive(feat_pi, params_visual_odometry_.lmk_creation.distance_init);
+            if (not lmk_ptr)
+                lmk_ptr = emplaceLandmarkNaive(feat_pi, params_visual_odometry_.lmk_creation.distance_init);
 
             // Associate all features of the track to the landmark
             for (auto feat_track : track_matrix_.track(feat->trackId()))
@@ -848,8 +849,7 @@ bool ProcessorVisualOdometry::tryTriangulationFromFeatures(FeaturePointImagePtr
 
     // Normalization necessary since homogeneous point stateblock is supposed to be unitary
     pt_w.normalize();
-    if (pt_w(3) < 0)
-        pt_w *= -1;
+    if (pt_w(3) < 0) pt_w *= -1;
 
     // Cheriality check
     // transform to camera frame
diff --git a/test/gtest_processor_visual_odometry.cpp b/test/gtest_processor_visual_odometry.cpp
index d82e50bfaf66fd41e69312f861d99f529cec278a..61f4c2af5b4ad4b02d46aeaecaa6d284222c07e2 100644
--- a/test/gtest_processor_visual_odometry.cpp
+++ b/test/gtest_processor_visual_odometry.cpp
@@ -436,8 +436,7 @@ class ProcessorVOMultiView_class : public testing::Test
         X_c1.push_back((Eigen::Vector4d() << 0.75, 0.75, 2.0, 1.0).finished());
 
         // Keep 3D points in the world frame
-        for(auto i = 0; i < X_c1.size(); i++)
-            X_w.push_back(X_c1.at(i));
+        for (auto i = 0; i < X_c1.size(); i++) X_w.push_back(X_c1.at(i));
 
         // Project pixels in the first view
         auto cam_dist_vec = camera->getDistortionVector();
@@ -446,7 +445,7 @@ class ProcessorVOMultiView_class : public testing::Test
             mwkps_c1.emplace(i, WKeyPoint(pinhole::projectPoint(k, cam_dist_vec, X_c1.at(i).head<3>())));
 
         // Set the transformation between views 1 and 2
-        t_12 = Vector3d(0.2, 0.1, 0.0); // t_12 = Vector3d(2, 0, 0.0);
+        t_12 = Vector3d(0.2, 0.1, 0.0);  // t_12 = Vector3d(2, 0, 0.0);
         Eigen::Vector3d euler(0.2, 0.1, 0.3);
         q_12 = e2q(euler);
 
@@ -549,7 +548,8 @@ TEST_F(ProcessorVOMultiView_class, tryTriangulationFromFeatures)
         track.emplace(1.0, f2);
 
         Vector4d pt_c;
-        EXPECT_TRUE(processor->tryTriangulationFromFeatures(std::static_pointer_cast<FeaturePointImage>(f2), track, pt_c));
+        EXPECT_TRUE(
+            processor->tryTriangulationFromFeatures(std::static_pointer_cast<FeaturePointImage>(f2), track, pt_c));
 
         EXPECT_QUATERNION_VECTOR_APPROX(
             X_c1.at(i).normalized(), pt_c, 1e-3);  // Homogeneous (if normalized) is equivalent to quaternion