diff --git a/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp b/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
index ac0100f..374956e 100644
--- a/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
+++ b/object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp
@@ -231,7 +231,7 @@ class TrackerKCFImpl
   cv::Mat hann;
   // 10 dimensional hann-window filter for CN features
   cv::Mat hann_cn;
-  
+
   // training response and its FFT
   cv::Mat y, yf;
   // observation and its FFT
diff --git a/object_analytics_node/src/visualizer/control/control.hpp b/object_analytics_node/src/visualizer/control/control.hpp
index b535484..041f130 100644
--- a/object_analytics_node/src/visualizer/control/control.hpp
+++ b/object_analytics_node/src/visualizer/control/control.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__CONTROL__CONTROL_HPP_
+#define VISUALIZER__CONTROL__CONTROL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -66,3 +67,4 @@ class Control
   View::Ptr DataView_ = nullptr;
   stream_device::Ptr StreamDev_ = nullptr;
 };
+#endif  // VISUALIZER__CONTROL__CONTROL_HPP_
diff --git a/object_analytics_node/src/visualizer/control/control_ds.hpp b/object_analytics_node/src/visualizer/control/control_ds.hpp
index e652438..d471401 100644
--- a/object_analytics_node/src/visualizer/control/control_ds.hpp
+++ b/object_analytics_node/src/visualizer/control/control_ds.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__CONTROL__CONTROL_DS_HPP_
+#define VISUALIZER__CONTROL__CONTROL_DS_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -71,3 +72,4 @@ class ControlDS : public Control
   bool PauseMode_ = true;
   bool InitialScreen_ = true;
 };
+#endif  // VISUALIZER__CONTROL__CONTROL_DS_HPP_
diff --git a/object_analytics_node/src/visualizer/data/dataset/track_dataset.hpp b/object_analytics_node/src/visualizer/data/dataset/track_dataset.hpp
index 26f0553..7216f45 100644
--- a/object_analytics_node/src/visualizer/data/dataset/track_dataset.hpp
+++ b/object_analytics_node/src/visualizer/data/dataset/track_dataset.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_
-#define OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_
+#ifndef VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_
+#define VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_
 
 #include <omp.h>
 #include <sys/stat.h>
@@ -205,5 +205,4 @@ class imgMTDataset : public trDataset
 };
 
 }  // namespace datasets
-
-#endif  // OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_ _
+#endif  // VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_
diff --git a/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp b/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
index 4845791..e5a7800 100644
--- a/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
+++ b/object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "track_dataset.hpp"
-
 #include <omp.h>
 #include <opencv2/highgui.hpp>
 
@@ -21,6 +19,8 @@
 #include <vector>
 #include <fstream>
 
+#include "track_dataset.hpp"
+
 namespace datasets
 {
 void imgDataset::load(const std::string & rootPath)
diff --git a/object_analytics_node/src/visualizer/data/frame.hpp b/object_analytics_node/src/visualizer/data/frame.hpp
index 75bce56..6824420 100644
--- a/object_analytics_node/src/visualizer/data/frame.hpp
+++ b/object_analytics_node/src/visualizer/data/frame.hpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__FRAME_HPP_
+#define VISUALIZER__DATA__FRAME_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,8 +31,6 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 #include "object.hpp"
 
@@ -37,7 +38,7 @@ class sFrame
 {
 public:
   sFrame() {}
-  sFrame(cv::Mat & cv_frame);
+  explicit sFrame(cv::Mat & cv_frame);
   sFrame(cv::Mat & cv_frame, struct timespec st);
 
   virtual ~sFrame() = default;
@@ -66,3 +67,4 @@ class sFrame
   cv::Mat frame;
   struct timespec stamp;
 };
+#endif  // VISUALIZER__DATA__FRAME_HPP_
diff --git a/object_analytics_node/src/visualizer/data/frame_obj.hpp b/object_analytics_node/src/visualizer/data/frame_obj.hpp
index e32330c..8ca732e 100644
--- a/object_analytics_node/src/visualizer/data/frame_obj.hpp
+++ b/object_analytics_node/src/visualizer/data/frame_obj.hpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__FRAME_OBJ_HPP_
+#define VISUALIZER__DATA__FRAME_OBJ_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,8 +31,6 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 #include "frame.hpp"
 
@@ -61,3 +62,4 @@ class FrameObjs : public sFrame
   std::vector<Object> dets;
   std::vector<Object> tracks;
 };
+#endif  // VISUALIZER__DATA__FRAME_OBJ_HPP_
diff --git a/object_analytics_node/src/visualizer/data/object.hpp b/object_analytics_node/src/visualizer/data/object.hpp
index ee86b98..aeb8cf2 100644
--- a/object_analytics_node/src/visualizer/data/object.hpp
+++ b/object_analytics_node/src/visualizer/data/object.hpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__OBJECT_HPP_
+#define VISUALIZER__DATA__OBJECT_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,8 +31,6 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 class Object
 {
 public:
@@ -44,3 +45,4 @@ class Object
   cv::Mat Mean_;
   cv::Mat Covariance_;
 };
+#endif  // VISUALIZER__DATA__OBJECT_HPP_
diff --git a/object_analytics_node/src/visualizer/device/stream_cap.cpp b/object_analytics_node/src/visualizer/device/stream_cap.cpp
index 583ae23..318765d 100644
--- a/object_analytics_node/src/visualizer/device/stream_cap.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_cap.cpp
@@ -25,7 +25,7 @@ bool stream_cap::init_stream(int stream_name)
 {
   TRACE_INFO();
 
-  //	stream_name_ =  stream_name;
+  // stream_name_ =  stream_name;
   cap_ = std::make_shared<cv::VideoCapture>(stream_name);
 
   if (cap_->isOpened()) {return true;}
@@ -37,7 +37,7 @@ bool stream_cap::init_stream(std::string & stream_name)
 {
   TRACE_INFO();
 
-  //	stream_name_ =  stream_name;
+  // stream_name_ =  stream_name;
   cap_ = std::make_shared<cv::VideoCapture>(stream_name, cv::CAP_FFMPEG);
 
   if (cap_->isOpened()) {return true;}
diff --git a/object_analytics_node/src/visualizer/device/stream_cap.hpp b/object_analytics_node/src/visualizer/device/stream_cap.hpp
index e6b3be7..6c78413 100644
--- a/object_analytics_node/src/visualizer/device/stream_cap.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_cap.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_CAP_HPP_
+#define VISUALIZER__DEVICE__STREAM_CAP_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -55,3 +56,4 @@ class stream_cap : public stream_device
 protected:
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_CAP_HPP_
diff --git a/object_analytics_node/src/visualizer/device/stream_device.hpp b/object_analytics_node/src/visualizer/device/stream_device.hpp
index 9ee6126..206ff17 100644
--- a/object_analytics_node/src/visualizer/device/stream_device.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_device.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_DEVICE_HPP_
+#define VISUALIZER__DEVICE__STREAM_DEVICE_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -125,3 +126,4 @@ class stream_device
 private:
   bool initialized_ = false;
 };
+#endif  // VISUALIZER__DEVICE__STREAM_DEVICE_HPP_
diff --git a/object_analytics_node/src/visualizer/device/stream_ds.cpp b/object_analytics_node/src/visualizer/device/stream_ds.cpp
index ece8adf..eb698cc 100644
--- a/object_analytics_node/src/visualizer/device/stream_ds.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_ds.cpp
@@ -15,7 +15,7 @@
 #include "stream_ds.hpp"
 
 #include <string>
-#include <momery>
+#include <memory>
 
 #include "frame_obj.hpp"
 #include "object.hpp"
diff --git a/object_analytics_node/src/visualizer/device/stream_ds.hpp b/object_analytics_node/src/visualizer/device/stream_ds.hpp
index 79e84c1..a21f227 100644
--- a/object_analytics_node/src/visualizer/device/stream_ds.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_ds.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_DS_HPP_
+#define VISUALIZER__DEVICE__STREAM_DS_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -64,3 +65,4 @@ class stream_ds : public stream_device
 
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_DS_HPP_
diff --git a/object_analytics_node/src/visualizer/device/stream_render.hpp b/object_analytics_node/src/visualizer/device/stream_render.hpp
index 05c52da..bf4ffa8 100644
--- a/object_analytics_node/src/visualizer/device/stream_render.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_render.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_RENDER_HPP_
+#define VISUALIZER__DEVICE__STREAM_RENDER_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -53,3 +54,4 @@ class stream_render
 
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_RENDER_HPP_
diff --git a/object_analytics_node/src/visualizer/device/stream_vid.cpp b/object_analytics_node/src/visualizer/device/stream_vid.cpp
index a328df0..4573ff5 100644
--- a/object_analytics_node/src/visualizer/device/stream_vid.cpp
+++ b/object_analytics_node/src/visualizer/device/stream_vid.cpp
@@ -15,7 +15,7 @@
 #include "stream_vid.hpp"
 
 #include <string>
-#include <momery>
+#include <memory>
 
 stream_vid::stream_vid() {TRACE_INFO();}
 
diff --git a/object_analytics_node/src/visualizer/device/stream_vid.hpp b/object_analytics_node/src/visualizer/device/stream_vid.hpp
index b5936de..cd72134 100644
--- a/object_analytics_node/src/visualizer/device/stream_vid.hpp
+++ b/object_analytics_node/src/visualizer/device/stream_vid.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_VID_HPP_
+#define VISUALIZER__DEVICE__STREAM_VID_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -23,6 +24,7 @@
 #include <random>
 #include <string>
 #include <vector>
+#include <memory>
 
 #include "stream_device.hpp"
 
@@ -60,3 +62,4 @@ class stream_vid : public stream_device
 protected:
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_VID_HPP_
diff --git a/object_analytics_node/src/visualizer/model/math_model.hpp b/object_analytics_node/src/visualizer/model/math_model.hpp
index e552c34..48a6fa7 100644
--- a/object_analytics_node/src/visualizer/model/math_model.hpp
+++ b/object_analytics_node/src/visualizer/model/math_model.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__MATH_MODEL_HPP_
+#define VISUALIZER__MODEL__MATH_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -45,3 +46,4 @@ class MathModel
 public:
   std::string InstName_ = "";
 };
+#endif  // VISUALIZER__MODEL__MATH_MODEL_HPP_
diff --git a/object_analytics_node/src/visualizer/model/math_sample.hpp b/object_analytics_node/src/visualizer/model/math_sample.hpp
index c21f482..f81e419 100644
--- a/object_analytics_node/src/visualizer/model/math_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/math_sample.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__MATH_SAMPLE_HPP_
+#define VISUALIZER__MODEL__MATH_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -85,3 +86,4 @@ class MathSample
 
   uint32_t Counts_ = 0;
 };
+#endif  // VISUALIZER__MODEL__MATH_SAMPLE_HPP_
diff --git a/object_analytics_node/src/visualizer/model/sample/rw_sample.cpp b/object_analytics_node/src/visualizer/model/sample/rw_sample.cpp
index d746f39..2663dc2 100644
--- a/object_analytics_node/src/visualizer/model/sample/rw_sample.cpp
+++ b/object_analytics_node/src/visualizer/model/sample/rw_sample.cpp
@@ -64,7 +64,7 @@ bool RWSample::GenSamples()
         res_dec = Evaluator_Proc_(seed_dec);
       }
 
-      double uni_rand = rng.uniform((double)0, res_inc + res_dec);
+      double uni_rand = rng.uniform(0.0f, res_inc + res_dec);
       if (uni_rand <= (res_inc)) {
         seed = seed_inc.clone();
         res = res_inc;
diff --git a/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp b/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
index c31fa4d..5fb4a81 100644
--- a/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/rw_sample.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_
+#define VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -56,3 +57,4 @@ class RWSample : public SampleModel
    */
   virtual bool FetchSamples(cv::Mat & samples);
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_
diff --git a/object_analytics_node/src/visualizer/model/sample/sample_model.hpp b/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
index c7fa6b6..92213d0 100644
--- a/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/sample_model.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_
+#define VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -100,3 +101,4 @@ class SampleModel
    */
   CBPtr Evaluator_Proc_ = nullptr;
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_
diff --git a/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp b/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
index b16bb4e..b5bfa0d 100644
--- a/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
+++ b/object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_
+#define VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -60,5 +61,5 @@ class UniformSample : public SampleModel
    * @brief Fetch samples
    */
   virtual bool FetchSamples(cv::Mat & samples);
-
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_
diff --git a/object_analytics_node/src/visualizer/model/stat/gaussian_model.hpp b/object_analytics_node/src/visualizer/model/stat/gaussian_model.hpp
index b47ae38..f68a960 100644
--- a/object_analytics_node/src/visualizer/model/stat/gaussian_model.hpp
+++ b/object_analytics_node/src/visualizer/model/stat/gaussian_model.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_
+#define VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -52,3 +53,4 @@ class GaussianModel : public StatModel
 
 public:
 };
+#endif  // VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_
diff --git a/object_analytics_node/src/visualizer/model/stat/stat_model.hpp b/object_analytics_node/src/visualizer/model/stat/stat_model.hpp
index 02280d0..6d06d4b 100644
--- a/object_analytics_node/src/visualizer/model/stat/stat_model.hpp
+++ b/object_analytics_node/src/visualizer/model/stat/stat_model.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_
+#define VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -70,5 +71,5 @@ class StatModel : public MathModel
   cv::Mat Covariance_;
   cv::Mat InvCovariance_;
   int Dimension_ = 2;
-
 };
+#endif  // VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_
diff --git a/object_analytics_node/src/visualizer/render_object/render_ellipse.cpp b/object_analytics_node/src/visualizer/render_object/render_ellipse.cpp
index 3e6a8b4..6f43f56 100644
--- a/object_analytics_node/src/visualizer/render_object/render_ellipse.cpp
+++ b/object_analytics_node/src/visualizer/render_object/render_ellipse.cpp
@@ -113,7 +113,7 @@ void RenderEllipse::DrawEllipse(cv::RotatedRect & rect, double confident_scale)
   double yc = rect.center.y;
   double a = sqrt(confident_scale) * rect.size.width / 2.0f;
   double b = sqrt(confident_scale) * rect.size.height / 2.0f;
-  double angle = M_PI * ((double)(rect.angle)) / 180.0f;
+  double angle = M_PI * ((static_cast<double>(rect.angle)) / 180.0f;
   double t = 0, cr, sr, xi, yi;
   double delta = 2 * M_PI / SAMPLE_POINTS;
   double ca = cos(angle);
diff --git a/object_analytics_node/src/visualizer/render_object/render_ellipse.hpp b/object_analytics_node/src/visualizer/render_object/render_ellipse.hpp
index d3fde4d..3295a61 100644
--- a/object_analytics_node/src/visualizer/render_object/render_ellipse.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_ellipse.hpp
@@ -12,18 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__RENDER_OBJECT__RENDER_ELLIPSE_HPP_
+#define VISUALIZER__RENDER_OBJECT__RENDER_ELLIPSE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
 
+#include <memory>
+#include <string>
+
 #include "render_object.hpp"
 
 class RenderEllipse : public RenderObject
 {
 public:
   RenderEllipse(float width, float height);
-  RenderEllipse(cv::RotatedRect rect);
+  explicit RenderEllipse(cv::RotatedRect rect);
   RenderEllipse() {}
   ~RenderEllipse();
 
@@ -42,10 +46,10 @@ class RenderEllipse : public RenderObject
 
   virtual void DrawID(float size);
 
-  //confident_scale associate to chi-squal iso-probability ellipse
-  //99%-iso-probability ==> 9.21
-  //95%-iso-probability ==> 5.99
-  //70%-iso-probability ==> 2.41
+  // confident_scale associate to chi-squal iso-probability ellipse
+  // 99%-iso-probability ==> 9.21
+  // 95%-iso-probability ==> 5.99
+  // 70%-iso-probability ==> 2.41
   void DrawEllipse(cv::RotatedRect & rect, double confident_scale = 9.21);
 
 public:
@@ -53,3 +57,4 @@ class RenderEllipse : public RenderObject
 
 private:
 };
+#endif  // VISUALIZER__RENDER_OBJECT__RENDER_ELLIPSE_HPP_
diff --git a/object_analytics_node/src/visualizer/render_object/render_image.cpp b/object_analytics_node/src/visualizer/render_object/render_image.cpp
index 303f16f..30728eb 100644
--- a/object_analytics_node/src/visualizer/render_object/render_image.cpp
+++ b/object_analytics_node/src/visualizer/render_object/render_image.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "render_image.hpp"
+#include <string>
 
 RenderImage::RenderImage(float width, float height)
 : RenderObject(width, height)
diff --git a/object_analytics_node/src/visualizer/render_object/render_image.hpp b/object_analytics_node/src/visualizer/render_object/render_image.hpp
index 33d42cf..a00af50 100644
--- a/object_analytics_node/src/visualizer/render_object/render_image.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_image.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__RENDER_OBJECT__RENDER_IMAGE_HPP_
+#define VISUALIZER__RENDER_OBJECT__RENDER_IMAGE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -46,3 +47,4 @@ class RenderImage : public RenderObject
 
 private:
 };
+#endif  // VISUALIZER__RENDER_OBJECT__RENDER_IMAGE_HPP_
diff --git a/object_analytics_node/src/visualizer/render_object/render_lines.cpp b/object_analytics_node/src/visualizer/render_object/render_lines.cpp
index 8dcd320..684d945 100644
--- a/object_analytics_node/src/visualizer/render_object/render_lines.cpp
+++ b/object_analytics_node/src/visualizer/render_object/render_lines.cpp
@@ -68,7 +68,7 @@ void RenderLines::DrawObject()
   // Turn Blending On
   glEnable(GL_BLEND);
   // Turn Depth Testing Off
-  //			glDisable(GL_DEPTH_TEST);
+  // glDisable(GL_DEPTH_TEST);
   glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
   // Turn Depth Testing Off
diff --git a/object_analytics_node/src/visualizer/render_object/render_lines.hpp b/object_analytics_node/src/visualizer/render_object/render_lines.hpp
index 21cc536..979e42d 100644
--- a/object_analytics_node/src/visualizer/render_object/render_lines.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_lines.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__RENDER_OBJECT__RENDER_LINES_HPP_
+#define VISUALIZER__RENDER_OBJECT__RENDER_LINES_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -45,3 +46,4 @@ class RenderLines : public RenderObject
 
 private:
 };
+#endif  // VISUALIZER__RENDER_OBJECT__RENDER_LINES_HPP_
diff --git a/object_analytics_node/src/visualizer/render_object/render_object.cpp b/object_analytics_node/src/visualizer/render_object/render_object.cpp
index 5606659..a6176d1 100644
--- a/object_analytics_node/src/visualizer/render_object/render_object.cpp
+++ b/object_analytics_node/src/visualizer/render_object/render_object.cpp
@@ -14,6 +14,9 @@
 
 #include "render_object.hpp"
 
+#include <string>
+#include <vector>
+
 RenderObject::RenderObject()
 {
   TRACE_INFO();
@@ -54,10 +57,9 @@ void RenderObject::SetID(std::string id)
 
   bool inv = (i_dec % 2);
 
-  ObjColor_[0] = float(i_dec % 9) / (9.0f);
-
-  ObjColor_[1] = float(i_dec % 5) / (5.0f);
-  ObjColor_[2] = float(i_dec % 7) / (7.0f);
+  ObjColor_[0] = static_cast<float>(i_dec % 9) / (9.0f);
+  ObjColor_[1] = static_cast<float>(i_dec % 5) / (5.0f);
+  ObjColor_[2] = static_cast<float>(i_dec % 7) / (7.0f);
 }
 
 std::string RenderObject::GetID() {return Id_;}
@@ -172,14 +174,14 @@ void RenderObject::DrawGrid(float step)
   glDisable(GL_LINE_STIPPLE);
 
   for (float i = 0; i <= Height_; i += step) {
-    std::string str = std::to_string((int)i);
+    std::string str = std::to_string(static_cast<int>(i));
     pangolin::GlText txt = pangolin::GlFont::I().Text(str.c_str());
     txt.Draw(0, i, 0);
     txt.Draw(Width_, i, 0);
   }
 
   for (float i = 0; i <= Width_; i += step) {
-    std::string str = std::to_string((int)i);
+    std::string str = std::to_string(static_cast<int>(i));
     pangolin::GlText txt = pangolin::GlFont::I().Text(str.c_str());
     txt.Draw(i, 0, 0);  // lines parallel to Z-axis
     txt.Draw(i, Height_, 0);
diff --git a/object_analytics_node/src/visualizer/render_object/render_object.hpp b/object_analytics_node/src/visualizer/render_object/render_object.hpp
index 0c25b7f..074b238 100644
--- a/object_analytics_node/src/visualizer/render_object/render_object.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_object.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__RENDER_OBJECT__RENDER_OBJECT_HPP_
+#define VISUALIZER__RENDER_OBJECT__RENDER_OBJECT_HPP_
 
 #include <stdio.h>
 #include <string.h>
@@ -35,7 +36,6 @@
 
 class RenderObject
 {
-
 #define TRACE_INFO()
 
 public:
@@ -57,9 +57,8 @@ class RenderObject
   virtual void Render();
   virtual void Finish();
 
-  //To be implement!!!!
-  //SetColorForeground and SetColorBackground
-
+  // To be implement!!!!
+  // SetColorForeground and SetColorBackground
 
   virtual void DrawAxis(float size);
   virtual void DrawID(float size);
@@ -96,6 +95,5 @@ class RenderObject
   float ObjColor_[3] = {0.3f, 0.3f, 0.3f};
 
   std::vector<Ptr> SubObjs_;
-
-private:
 };
+#endif  // VISUALIZER__RENDER_OBJECT__RENDER_OBJECT_HPP_
diff --git a/object_analytics_node/src/visualizer/render_object/render_rect.hpp b/object_analytics_node/src/visualizer/render_object/render_rect.hpp
index bb75b8e..d69059f 100644
--- a/object_analytics_node/src/visualizer/render_object/render_rect.hpp
+++ b/object_analytics_node/src/visualizer/render_object/render_rect.hpp
@@ -12,18 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__RENDER_OBJECT__RENDER_RECT_HPP_
+#define VISUALIZER__RENDER_OBJECT__RENDER_RECT_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
 
+#include <memory>
+#include <string>
+
 #include "render_object.hpp"
 
 class RenderRect : public RenderObject
 {
 public:
   RenderRect(float width, float height);
-  RenderRect(cv::Rect rect);
+  explicit RenderRect(cv::Rect rect);
   RenderRect() {}
   ~RenderRect();
 
@@ -47,3 +51,4 @@ class RenderRect : public RenderObject
 
 private:
 };
+#endif  // VISUALIZER__RENDER_OBJECT__RENDER_RECT_HPP_
diff --git a/object_analytics_node/src/visualizer/utils/utility.hpp b/object_analytics_node/src/visualizer/utils/utility.hpp
index 0d6fdf8..e858e38 100644
--- a/object_analytics_node/src/visualizer/utils/utility.hpp
+++ b/object_analytics_node/src/visualizer/utils/utility.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__UTILS__UTILITY_HPP_
+#define VISUALIZER__UTILS__UTILITY_HPP_
 
 #define __FILENAME__ \
   (strrchr(__FILE__, '/') ? (strrchr(__FILE__, '/') + 1) : __FILE__)
@@ -28,3 +29,4 @@
 #define TRACE_ERR(fmt, args ...) \
   printf("[ERR ]: %s(%d)<%s>\t" fmt "\n", __FILENAME__, __LINE__, \
     __FUNCTION__, ## args)
+#endif  // VISUALIZER__UTILS__UTILITY_HPP_
diff --git a/object_analytics_node/src/visualizer/view/view.cpp b/object_analytics_node/src/visualizer/view/view.cpp
index ae934bf..e146609 100644
--- a/object_analytics_node/src/visualizer/view/view.cpp
+++ b/object_analytics_node/src/visualizer/view/view.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "view.hpp"
+#include <vector>
 
 View::View()
 {
diff --git a/object_analytics_node/src/visualizer/view/view.hpp b/object_analytics_node/src/visualizer/view/view.hpp
index 23ce559..1205eaf 100644
--- a/object_analytics_node/src/visualizer/view/view.hpp
+++ b/object_analytics_node/src/visualizer/view/view.hpp
@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__VIEW__VIEW_HPP_
+#define VISUALIZER__VIEW__VIEW_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -25,6 +26,9 @@
 #include <pangolin/scene/axis.h>
 #include <pangolin/scene/scenehandler.h>
 
+#include <memory>
+#include <vector>
+
 #include "render_object.hpp"
 #include "utility.hpp"
 
@@ -89,3 +93,4 @@ class View
 
   Layout Layout_;
 };
+#endif  // VISUALIZER__VIEW__VIEW_HPP_
diff --git a/object_analytics_rviz/src/image_publisher.cpp b/object_analytics_rviz/src/image_publisher.cpp
index cd5f3a4..8589f00 100644
--- a/object_analytics_rviz/src/image_publisher.cpp
+++ b/object_analytics_rviz/src/image_publisher.cpp
@@ -112,7 +112,7 @@ class ImagePublisher : public rclcpp::Node
 
       findObject(cv_ptr, objects_tracked);
 
-      image_pub_->publish(cv_ptr->toImageMsg());
+      image_pub_->publish(*(cv_ptr->toImageMsg()));
     }
   }