diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp
index 5b7637592c9..e098cdd9cca 100644
--- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp
+++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp
@@ -70,9 +70,7 @@ pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>::getMeshFromTSDFCloud (const
 {
 
   //Clearing TSDF GPU and cPU
-  const Eigen::Vector3f volume_size = Eigen::Vector3f::Constant (volume_size_);
-    std::cout << "VOLUME SIZE IS " << volume_size_ << std::endl;
-  const Eigen::Vector3i volume_resolution (voxels_x_, voxels_y_, voxels_z_);
+  std::cout << "VOLUME SIZE IS " << volume_size_ << std::endl;
 
   //Clear values in TSDF Volume GPU
   tsdf_volume_gpu_->reset (); // This one uses the same tsdf volume but clears it before loading new values. This one is our friend.
diff --git a/gpu/people/src/face_detector.cpp b/gpu/people/src/face_detector.cpp
index 41029377314..21fe590e7b5 100644
--- a/gpu/people/src/face_detector.cpp
+++ b/gpu/people/src/face_detector.cpp
@@ -731,21 +731,21 @@ pcl::gpu::people::FaceDetector::process(pcl::PointCloud<pcl::RGB>& cloud_in,
   PCL_DEBUG("[pcl::gpu::people::FaceDetector::process] : (D) : called\n");
   cols_ = cloud_in.width; rows_ = cloud_in.height;
 
-  // TODO do something with the NCVStatus return value
-  NCVStatus status = NCVprocess(cloud_in,
-                                cloud_out,
-                                haar_clas_casc_descr_,
-                                *haar_stages_dev_,
-                                *haar_nodes_dev_,
-                                *haar_features_dev_,
-                                *haar_stages_host_,
-                                *gpu_allocator_,
-                                *cpu_allocator_,
-                                cuda_dev_prop_,
-                                cloud_in.width,
-                                cloud_in.height,
-                                filter_rects_,
-                                largest_object_);
+  // TODO do something with the NCVprocess return value
+  NCVprocess(cloud_in,
+             cloud_out,
+             haar_clas_casc_descr_,
+             *haar_stages_dev_,
+             *haar_nodes_dev_,
+             *haar_features_dev_,
+             *haar_stages_host_,
+             *gpu_allocator_,
+             *cpu_allocator_,
+             cuda_dev_prop_,
+             cloud_in.width,
+             cloud_in.height,
+             filter_rects_,
+             largest_object_);
 
 }
 
diff --git a/gpu/people/src/people_detector.cpp b/gpu/people/src/people_detector.cpp
index b65340d6a82..02505663883 100644
--- a/gpu/people/src/people_detector.cpp
+++ b/gpu/people/src/people_detector.cpp
@@ -507,7 +507,6 @@ pcl::gpu::people::PeopleDetector::shs5(const pcl::PointCloud<PointT> &cloud, con
     int sq_idx = 0;
     seed_queue.push_back (i);
 
-    PointT p = cloud.points[i];
     float h = hue[i];    
 
     while (sq_idx < (int)seed_queue.size ())
diff --git a/gpu/surface/src/convex_hull.cpp b/gpu/surface/src/convex_hull.cpp
index 8c10e9ffba4..ac96ffb96b6 100644
--- a/gpu/surface/src/convex_hull.cpp
+++ b/gpu/surface/src/convex_hull.cpp
@@ -91,8 +91,6 @@ pcl::gpu::PseudoConvexHull3D::reconstruct (const Cloud &cloud, DeviceArray2D<int
 
   ps.computeInitalSimplex();
 
-  device::InitalSimplex simplex = ps.simplex;
-
   fs.setInitialFacets(ps.simplex);
   ps.initalClassify();
     
diff --git a/surface/include/pcl/surface/impl/texture_mapping.hpp b/surface/include/pcl/surface/impl/texture_mapping.hpp
index ed7bd504f5c..829c9ced790 100644
--- a/surface/include/pcl/surface/impl/texture_mapping.hpp
+++ b/surface/include/pcl/surface/impl/texture_mapping.hpp
@@ -762,7 +762,6 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras (pcl::TextureMesh
 
     // CREATE UV MAP FOR CURRENT FACES
     pcl::PointCloud<pcl::PointXY>::Ptr projections (new pcl::PointCloud<pcl::PointXY>);
-    std::vector<pcl::Vertices>::iterator current_face;
     std::vector<bool> visibility;
     visibility.resize (mesh.tex_polygons[current_cam].size ());
     std::vector<UvIndex> indexes_uv_to_points;