diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 25f5072ced7205d4de6a63361f7a25768cf411bf..15f0ca9004ffc8ca36efadf233eb9a0bfbca384d 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -214,7 +214,7 @@ class ProcessorMotion : public ProcessorBase
          */
         FrameBasePtr setOrigin(const Eigen::VectorXs& _x_origin, const TimeStamp& _ts_origin);
 
-        virtual void setProblem(ProblemPtr);
+        virtual void setProblem(ProblemPtr) override;
 
         MotionBuffer& getBuffer();
         const MotionBuffer& getBuffer() const;
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 7e701180a3aa2738c3f932e44fe68efbb0d5dc90..bab37b3a271f53731e8a2777112f115f10497ed8 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -200,7 +200,7 @@ class ProcessorTracker : public ProcessorBase
          *
          * WARNING! This function only votes! It does not create KeyFrames!
          */
-        virtual bool voteForKeyFrame() = 0;
+        virtual bool voteForKeyFrame() override = 0;
 
         /** \brief Advance the incoming Capture to become the last.
          *
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 0bdb038d95318698cccbd722e81c719c03d1d97b..aee1ecfaec2139251015f1469eddab6d859d3747 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -375,17 +375,17 @@ CaptureBasePtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr)
 
 FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type)
 {
-    for (const FactorBasePtr& constaint_ptr : getConstrainedByList())
-        if (constaint_ptr->getProcessor() == _processor_ptr && constaint_ptr->getType() == type)
-            return constaint_ptr;
+    for (const FactorBasePtr& factor_ptr : getConstrainedByList())
+        if (factor_ptr->getProcessor() == _processor_ptr && factor_ptr->getType() == type)
+            return factor_ptr;
     return nullptr;
 }
 
 FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr)
 {
-    for (const FactorBasePtr& constaint_ptr : getConstrainedByList())
-        if (constaint_ptr->getProcessor() == _processor_ptr)
-            return constaint_ptr;
+    for (const FactorBasePtr& factor_ptr : getConstrainedByList())
+        if (factor_ptr->getProcessor() == _processor_ptr)
+            return factor_ptr;
     return nullptr;
 }