diff --git a/2d/include/pcl/2d/impl/kernel.hpp b/2d/include/pcl/2d/impl/kernel.hpp
index d85de7e6913..d8a2791fa20 100644
--- a/2d/include/pcl/2d/impl/kernel.hpp
+++ b/2d/include/pcl/2d/impl/kernel.hpp
@@ -122,7 +122,6 @@ void
 pcl::kernel<PointT>::loGKernel(pcl::PointCloud<PointT>& kernel)
 {
   float sum = 0;
-  float temp = 0;
   kernel.resize(kernel_size_ * kernel_size_);
   kernel.height = kernel_size_;
   kernel.width = kernel_size_;
@@ -133,7 +132,7 @@ pcl::kernel<PointT>::loGKernel(pcl::PointCloud<PointT>& kernel)
     for (int j = 0; j < kernel_size_; j++) {
       int iks = (i - kernel_size_ / 2);
       int jks = (j - kernel_size_ / 2);
-      temp = float(double(iks * iks + jks * jks) / sigma_sqr);
+      float temp = float(double(iks * iks + jks * jks) / sigma_sqr);
       kernel(j, i).intensity = (1.0f - temp) * std::exp(-temp);
       sum += kernel(j, i).intensity;
     }
diff --git a/2d/include/pcl/2d/impl/keypoint.hpp b/2d/include/pcl/2d/impl/keypoint.hpp
index fd8235d7d34..8dc8bf01612 100644
--- a/2d/include/pcl/2d/impl/keypoint.hpp
+++ b/2d/include/pcl/2d/impl/keypoint.hpp
@@ -193,17 +193,15 @@ pcl::keypoint::hessianBlob(ImageType& output,
     hessianBlob(cornerness[i], input, scale, false);
     scale *= scaling_factor;
   }
-  bool non_max_flag = false;
-  float scale_max, local_max;
   for (std::size_t i = 0; i < height; i++) {
     for (std::size_t j = 0; j < width; j++) {
-      scale_max = std::numeric_limits<float>::min();
+      float scale_max = std::numeric_limits<float>::min();
       /*default output in case of no blob at the current point is 0*/
       output[i][j] = 0;
       for (int k = 0; k < num_scales; k++) {
         /*check if the current point (k,i,j) is a maximum in the defined search radius*/
-        non_max_flag = false;
-        local_max = cornerness[k][i][j];
+        bool non_max_flag = false;
+        const float local_max = cornerness[k][i][j];
         for (int n = -local_search_radius; n <= local_search_radius; n++) {
           if (n + k < 0 || n + k >= num_scales)
             continue;
@@ -231,7 +229,7 @@ pcl::keypoint::hessianBlob(ImageType& output,
             scale_max = cornerness[k][i][j];
             /*output indicates the scale at which the blob is found at the current
              * location in the image*/
-            output[i][i] = start_scale * pow(scaling_factor, k);
+            output[i][j] = start_scale * pow(scaling_factor, k);
           }
         }
       }