diff --git a/noether_filtering/src/mesh/euclidean_clustering.cpp b/noether_filtering/src/mesh/euclidean_clustering.cpp
index 252063ab..4aaa06a8 100644
--- a/noether_filtering/src/mesh/euclidean_clustering.cpp
+++ b/noether_filtering/src/mesh/euclidean_clustering.cpp
@@ -130,7 +130,7 @@ bool EuclideanClustering::filter(const pcl::PolygonMesh& mesh_in, pcl::PolygonMe
     }
   }
 
-  auto is_valid_polygon = [& points = *mesh_points](const Vertices& polygon, double tol = 1e-6) -> bool {
+  auto is_valid_polygon = [&points = *mesh_points](const Vertices& polygon, double tol = 1e-6) -> bool {
     Eigen::Vector3f a, b, c, dir;
     const decltype(polygon.vertices)& vert = polygon.vertices;
     a = points[vert[0]].getVector3fMap();
diff --git a/tool_path_planner/src/surface_walk_raster_generator.cpp b/tool_path_planner/src/surface_walk_raster_generator.cpp
index c6a3b50f..932199a0 100644
--- a/tool_path_planner/src/surface_walk_raster_generator.cpp
+++ b/tool_path_planner/src/surface_walk_raster_generator.cpp
@@ -1471,8 +1471,7 @@ void SurfaceWalkRasterGenerator::getConnectedIntersectionLine(vtkSmartPointer<vt
       // points to
       switch (order)
       {
-        case 1:
-        {
+        case 1: {
           vtkSmartPointer<vtkPoints> tmp = vtkSmartPointer<vtkPoints>::New();
 
           for (long i = lines[next_index]->GetNumberOfPoints() - 1; i >= 0; --i)
@@ -1491,16 +1490,14 @@ void SurfaceWalkRasterGenerator::getConnectedIntersectionLine(vtkSmartPointer<vt
           temp_points->DeepCopy(tmp);
           break;
         }
-        case 2:
-        {
+        case 2: {
           for (int i = 0; i < lines[next_index]->GetNumberOfPoints(); ++i)
           {
             temp_points->InsertNextPoint(lines[next_index]->GetPoint(i));
           }
           break;
         }
-        case 3:
-        {
+        case 3: {
           vtkSmartPointer<vtkPoints> tmp = vtkSmartPointer<vtkPoints>::New();
 
           for (int i = 0; i < lines[next_index]->GetNumberOfPoints(); ++i)
@@ -1519,8 +1516,7 @@ void SurfaceWalkRasterGenerator::getConnectedIntersectionLine(vtkSmartPointer<vt
           temp_points->DeepCopy(tmp);
           break;
         }
-        case 4:
-        {
+        case 4: {
           for (long i = lines[next_index]->GetNumberOfPoints() - 1; i >= 0; --i)
           {
             temp_points->InsertNextPoint(lines[next_index]->GetPoint(i));