diff --git a/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c b/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c
index 9a08e3ea8..d5e8da2f0 100644
--- a/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c
+++ b/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c
@@ -1560,8 +1560,9 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
     Int *dead_cols ;
     Int set1 ;
     Int set2 ;
+#ifndef NDEBUG
     Int cs ;
-
+#endif
     int ok ;
 
 #ifndef NDEBUG
@@ -1909,8 +1910,10 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
             p [k] = col ;
             ASSERT (A [col] == EMPTY) ;
 
-	    cs = CMEMBER (col) ;
+#ifndef NDEBUG
+	    	cs = CMEMBER (col) ;
             ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ;
+#endif
 
             A [col] = k ;
             k++ ;
@@ -1926,11 +1929,11 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
             if (A [col] == EMPTY)
             {
                 k = Col [col].shared2.order ;
-		cs = CMEMBER (col) ;
 #ifndef NDEBUG
+				cs = CMEMBER (col) ;
                 dead_cols [cs]-- ;
-#endif
                 ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ;
+#endif
                 DEBUG1 (("ccolamd output ordering: k "ID" col "ID
                     " (dense or null col)\n", k, col)) ;
                 p [k] = col ;
diff --git a/gtsam/3rdparty/metis/GKlib/csr.c b/gtsam/3rdparty/metis/GKlib/csr.c
index a19d793bd..57934ee9d 100644
--- a/gtsam/3rdparty/metis/GKlib/csr.c
+++ b/gtsam/3rdparty/metis/GKlib/csr.c
@@ -1323,29 +1323,27 @@ void gk_csr_Normalize(gk_csr_t *mat, int what, int norm)
   ssize_t *ptr;
   float *val, sum;
 
-  if (what&GK_CSR_ROW && mat->rowval) {
-    n   = mat->nrows;
+  if (what & GK_CSR_ROW && mat->rowval) {
+    n = mat->nrows;
     ptr = mat->rowptr;
     val = mat->rowval;
 
-    #pragma omp parallel if (ptr[n] > OMPMINOPS) 
+#pragma omp parallel if (ptr[n] > OMPMINOPS)
     {
-      #pragma omp for private(j,sum) schedule(static)
-      for (i=0; i<n; i++) {
-        for (sum=0.0, j=ptr[i]; j<ptr[i+1]; j++){
-  	if (norm == 2)
-  	  sum += val[j]*val[j];
-  	else if (norm == 1)
-  	  sum += val[j]; /* assume val[j] > 0 */ 
+#pragma omp for private(j, sum) schedule(static)
+      for (i = 0; i < n; i++) {
+        for (sum = 0.0, j = ptr[i]; j < ptr[i + 1]; j++) {
+          if (norm == 2)
+            sum += val[j] * val[j];
+          else if (norm == 1)
+            sum += val[j]; /* assume val[j] > 0 */
         }
         if (sum > 0) {
-  	if (norm == 2)
-  	  sum=1.0/sqrt(sum); 
-  	else if (norm == 1)
-  	  sum=1.0/sum; 
-          for (j=ptr[i]; j<ptr[i+1]; j++)
-            val[j] *= sum;
-  	
+          if (norm == 2)
+            sum = 1.0 / sqrt(sum);
+          else if (norm == 1)
+            sum = 1.0 / sum;
+          for (j = ptr[i]; j < ptr[i + 1]; j++) val[j] *= sum;
         }
       }
     }
diff --git a/gtsam/3rdparty/metis/GKlib/getopt.c b/gtsam/3rdparty/metis/GKlib/getopt.c
index 437befc86..81074e3e3 100644
--- a/gtsam/3rdparty/metis/GKlib/getopt.c
+++ b/gtsam/3rdparty/metis/GKlib/getopt.c
@@ -341,10 +341,10 @@ static int gk_getopt_internal(int argc, char **argv, char *optstring,
 
   if (gk_optind == 0 || !gk_getopt_initialized) {
     if (gk_optind == 0)
-      gk_optind = 1;	/* Don't scan ARGV[0], the program name.  */
-      optstring = gk_getopt_initialize (argc, argv, optstring);
-      gk_getopt_initialized = 1;
-    }
+      gk_optind = 1; /* Don't scan ARGV[0], the program name.  */
+    optstring = gk_getopt_initialize(argc, argv, optstring);
+    gk_getopt_initialized = 1;
+  }
 
   /* Test whether ARGV[gk_optind] points to a non-option argument.
      Either it does not have option syntax, or there is an environment flag
@@ -670,37 +670,38 @@ static int gk_getopt_internal(int argc, char **argv, char *optstring,
 
     if (temp[1] == ':') {
       if (temp[2] == ':') {
-	/* This is an option that accepts an argument optionally.  */
-	if (*nextchar != '\0') {
-  	  gk_optarg = nextchar;
-	  gk_optind++;
-	}
-	else
-	  gk_optarg = NULL;
-	nextchar = NULL;
-      }
-      else {
-	/* This is an option that requires an argument.  */
-	if (*nextchar != '\0') {
-	  gk_optarg = nextchar;
-	  /* If we end this ARGV-element by taking the rest as an arg, we must advance to the next element now.  */
-	  gk_optind++;
-	}
-	else if (gk_optind == argc) {
-	  if (print_errors) {
-	    /* 1003.2 specifies the format of this message.  */
-	    fprintf(stderr, "%s: option requires an argument -- %c\n", argv[0], c);
-	  }
-	  gk_optopt = c;
-	  if (optstring[0] == ':')
-	    c = ':';
-	  else
-	    c = '?';
-	}
-	else
-	  /* We already incremented `gk_optind' once; increment it again when taking next ARGV-elt as argument.  */
-	  gk_optarg = argv[gk_optind++];
-	  nextchar = NULL;
+        /* This is an option that accepts an argument optionally.  */
+        if (*nextchar != '\0') {
+          gk_optarg = nextchar;
+          gk_optind++;
+        } else {
+          gk_optarg = NULL;
+        }
+        nextchar = NULL;
+      } else {
+        /* This is an option that requires an argument.  */
+        if (*nextchar != '\0') {
+          gk_optarg = nextchar;
+          /* If we end this ARGV-element by taking the rest as an arg, we must
+           * advance to the next element now.  */
+          gk_optind++;
+        } else if (gk_optind == argc) {
+          if (print_errors) {
+            /* 1003.2 specifies the format of this message.  */
+            fprintf(stderr, "%s: option requires an argument -- %c\n", argv[0],
+                    c);
+          }
+          gk_optopt = c;
+          if (optstring[0] == ':')
+            c = ':';
+          else
+            c = '?';
+        } else {
+          /* We already incremented `gk_optind' once; increment it again when
+           * taking next ARGV-elt as argument.  */
+          gk_optarg = argv[gk_optind++];
+        }
+        nextchar = NULL;
       }
     }
     return c;
diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h
index e04af1339..96d191419 100644
--- a/gtsam/inference/BayesTree-inst.h
+++ b/gtsam/inference/BayesTree-inst.h
@@ -83,26 +83,28 @@ namespace gtsam {
     std::string parent = out.str();
     parent += "[label=\"";
 
-    for(Key index: clique->conditional_->frontals()) {
-      if(!first) parent += ","; first = false;
+    for (Key index : clique->conditional_->frontals()) {
+      if (!first) parent += ",";
+      first = false;
       parent += indexFormatter(index);
     }
 
-    if(clique->parent()){
+    if (clique->parent()) {
       parent += " : ";
       s << parentnum << "->" << num << "\n";
     }
 
     first = true;
-    for(Key sep: clique->conditional_->parents()) {
-      if(!first) parent += ","; first = false;
+    for (Key sep : clique->conditional_->parents()) {
+      if (!first) parent += ",";
+      first = false;
       parent += indexFormatter(sep);
     }
     parent += "\"];\n";
     s << parent;
     parentnum = num;
 
-    for(sharedClique c: clique->children) {
+    for (sharedClique c : clique->children) {
       num++;
       saveGraph(s, c, indexFormatter, parentnum);
     }