diff --git a/components/calibration/src/extrinsic.cpp b/components/calibration/src/extrinsic.cpp
index ea575608bb972e9275bb6b9b4547b431850017cb..a1381fd476da5cb798423382efabfbe415b548fe 100644
--- a/components/calibration/src/extrinsic.cpp
+++ b/components/calibration/src/extrinsic.cpp
@@ -390,7 +390,6 @@ void ExtrinsicCalibration::updateStatus_(std::string str) {
 
 void ExtrinsicCalibration::calculatePairPose(unsigned int c1, unsigned int c2) {
 
-	const auto& visibility =  points_.visibility();
 	// calculate paramters and update triangulation
 
 	cv::Mat K1 = calib_[c1].intrinsic.matrix();
@@ -555,7 +554,7 @@ void ExtrinsicCalibration::calculateInitialPoses() {
 			// already calibrated. skip chain
 			continue;
 		}
-		if (c == c_ref) { continue; }
+		if (c == unsigned(c_ref)) { continue; }
 
 		cv::Mat R_chain = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
 		cv::Mat t_chain = cv::Mat(cv::Size(1, 3), CV_64FC1, cv::Scalar(0.0));
@@ -698,7 +697,7 @@ double ExtrinsicCalibration::optimize() {
 
 			unsigned int n = px.size();
 			unsigned int m = n / 2;
-			if (m == 0) {
+			if (n == 0) {
 				n_points_missing++;
 				break;
 			}