diff --git a/include/Settings.h b/include/Settings.h
index beab7de2f7..78d8d32241 100644
--- a/include/Settings.h
+++ b/include/Settings.h
@@ -68,8 +68,8 @@ namespace ORB_SLAM3 {
         CameraType cameraType() {return cameraType_;}
         GeometricCamera* camera1() {return calibration1_;}
         GeometricCamera* camera2() {return calibration2_;}
-        cv::Mat camera1DistortionCoef() {return cv::Mat(vPinHoleDistorsion1_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}
-        cv::Mat camera2DistortionCoef() {return cv::Mat(vPinHoleDistorsion2_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}
+        cv::Mat camera1DistortionCoef() {return cv::Mat(vPinHoleDistortion1_.size(),1,CV_32F,vPinHoleDistortion1_.data());}
+        cv::Mat camera2DistortionCoef() {return cv::Mat(vPinHoleDistortion2_.size(),1,CV_32F,vPinHoleDistortion2_.data());}
 
         Sophus::SE3f Tlr() {return Tlr_;}
         float bf() {return bf_;}
@@ -156,27 +156,27 @@ namespace ORB_SLAM3 {
 
         void precomputeRectificationMaps();
 
-        int sensor_;
-        CameraType cameraType_;     //Camera type
+        int sensor_ = 0;
+        CameraType cameraType_ = PinHole;
 
         /*
          * Visual stuff
          */
-        GeometricCamera* calibration1_, *calibration2_;   //Camera calibration
-        GeometricCamera* originalCalib1_, *originalCalib2_;
-        std::vector<float> vPinHoleDistorsion1_, vPinHoleDistorsion2_;
+        GeometricCamera* calibration1_ = nullptr, *calibration2_ = nullptr;   //Camera calibration
+        GeometricCamera* originalCalib1_ = nullptr, *originalCalib2_ = nullptr;
+        std::vector<float> vPinHoleDistortion1_, vPinHoleDistortion2_;
 
         cv::Size originalImSize_, newImSize_;
-        float fps_;
-        bool bRGB_;
+        float fps_ = 1.f;
+        bool bRGB_ = false;
 
-        bool bNeedToUndistort_;
-        bool bNeedToRectify_;
-        bool bNeedToResize1_, bNeedToResize2_;
+        bool bNeedToUndistort_ = false;
+        bool bNeedToRectify_ = false;
+        bool bNeedToResize1_ = false, bNeedToResize2_ = false;
 
         Sophus::SE3f Tlr_;
-        float thDepth_;
-        float bf_, b_;
+        float thDepth_ = 60.f;
+        float bf_ = 0.f, b_ = 0.f;
 
         /*
          * Rectification stuff
@@ -187,36 +187,36 @@ namespace ORB_SLAM3 {
         /*
          * Inertial stuff
          */
-        float noiseGyro_, noiseAcc_;
-        float gyroWalk_, accWalk_;
-        float imuFrequency_;
+        float noiseGyro_ = 0.f, noiseAcc_ = 0.f;
+        float gyroWalk_ = 0.f, accWalk_ = 0.f;
+        float imuFrequency_ = 0.f;
         Sophus::SE3f Tbc_;
-        bool insertKFsWhenLost_;
+        bool insertKFsWhenLost_ = false;
 
         /*
          * RGBD stuff
          */
-        float depthMapFactor_;
+        float depthMapFactor_ = 1.f;
 
         /*
          * ORB stuff
          */
-        int nFeatures_;
-        float scaleFactor_;
-        int nLevels_;
-        int initThFAST_, minThFAST_;
+        int nFeatures_ = 1000;
+        float scaleFactor_ = 1.f;
+        int nLevels_ = 1;
+        int initThFAST_ = 20, minThFAST_ = 7;
 
         /*
          * Viewer stuff
          */
-        float keyFrameSize_;
-        float keyFrameLineWidth_;
-        float graphLineWidth_;
-        float pointSize_;
-        float cameraSize_;
-        float cameraLineWidth_;
-        float viewPointX_, viewPointY_, viewPointZ_, viewPointF_;
-        float imageViewerScale_;
+        float keyFrameSize_ = 0.05f;
+        float keyFrameLineWidth_ = 1.f;
+        float graphLineWidth_ = 0.9f;
+        float pointSize_ = 2.f;
+        float cameraSize_ = 0.08f;
+        float cameraLineWidth_ = 3.f;
+        float viewPointX_ = 0.f, viewPointY_ = 0.f, viewPointZ_ = 0.f, viewPointF_ = 100.f;
+        float imageViewerScale_ = 1.f;
 
         /*
          * Save & load maps
@@ -226,7 +226,7 @@ namespace ORB_SLAM3 {
         /*
          * Other stuff
          */
-        float thFarPoints_;
+        float thFarPoints_ = 100.f;
 
     };
 };
diff --git a/src/Settings.cc b/src/Settings.cc
index 93a50be626..cb98334b23 100644
--- a/src/Settings.cc
+++ b/src/Settings.cc
@@ -207,20 +207,20 @@ namespace ORB_SLAM3 {
             if(found){
                 readParameter<float>(fSettings,"Camera1.k3",found,false);
                 if(found){
-                    vPinHoleDistorsion1_.resize(5);
-                    vPinHoleDistorsion1_[4] = readParameter<float>(fSettings,"Camera1.k3",found);
+                    vPinHoleDistortion1_.resize(5);
+                    vPinHoleDistortion1_[4] = readParameter<float>(fSettings,"Camera1.k3",found);
                 }
                 else{
-                    vPinHoleDistorsion1_.resize(4);
+                    vPinHoleDistortion1_.resize(4);
                 }
-                vPinHoleDistorsion1_[0] = readParameter<float>(fSettings,"Camera1.k1",found);
-                vPinHoleDistorsion1_[1] = readParameter<float>(fSettings,"Camera1.k2",found);
-                vPinHoleDistorsion1_[2] = readParameter<float>(fSettings,"Camera1.p1",found);
-                vPinHoleDistorsion1_[3] = readParameter<float>(fSettings,"Camera1.p2",found);
+                vPinHoleDistortion1_[0] = readParameter<float>(fSettings,"Camera1.k1",found);
+                vPinHoleDistortion1_[1] = readParameter<float>(fSettings,"Camera1.k2",found);
+                vPinHoleDistortion1_[2] = readParameter<float>(fSettings,"Camera1.p1",found);
+                vPinHoleDistortion1_[3] = readParameter<float>(fSettings,"Camera1.p2",found);
             }
 
             //Check if we need to correct distortion from the images
-            if((sensor_ == System::MONOCULAR || sensor_ == System::IMU_MONOCULAR) && vPinHoleDistorsion1_.size() != 0){
+            if((sensor_ == System::MONOCULAR || sensor_ == System::IMU_MONOCULAR) && vPinHoleDistortion1_.size() != 0){
                 bNeedToUndistort_ = true;
             }
         }
@@ -296,16 +296,16 @@ namespace ORB_SLAM3 {
             if(found){
                 readParameter<float>(fSettings,"Camera2.k3",found,false);
                 if(found){
-                    vPinHoleDistorsion2_.resize(5);
-                    vPinHoleDistorsion2_[4] = readParameter<float>(fSettings,"Camera2.k3",found);
+                    vPinHoleDistortion2_.resize(5);
+                    vPinHoleDistortion2_[4] = readParameter<float>(fSettings,"Camera2.k3",found);
                 }
                 else{
-                    vPinHoleDistorsion2_.resize(4);
+                    vPinHoleDistortion2_.resize(4);
                 }
-                vPinHoleDistorsion2_[0] = readParameter<float>(fSettings,"Camera2.k1",found);
-                vPinHoleDistorsion2_[1] = readParameter<float>(fSettings,"Camera2.k2",found);
-                vPinHoleDistorsion2_[2] = readParameter<float>(fSettings,"Camera2.p1",found);
-                vPinHoleDistorsion2_[3] = readParameter<float>(fSettings,"Camera2.p2",found);
+                vPinHoleDistortion2_[0] = readParameter<float>(fSettings,"Camera2.k1",found);
+                vPinHoleDistortion2_[1] = readParameter<float>(fSettings,"Camera2.k2",found);
+                vPinHoleDistortion2_[2] = readParameter<float>(fSettings,"Camera2.p1",found);
+                vPinHoleDistortion2_[3] = readParameter<float>(fSettings,"Camera2.p2",found);
             }
         }
         else if(cameraType_ == KannalaBrandt){
@@ -542,9 +542,9 @@ namespace ORB_SLAM3 {
         }
         output << " ]" << endl;
 
-        if(!settings.vPinHoleDistorsion1_.empty()){
+        if(!settings.vPinHoleDistortion1_.empty()){
             output << "\t-Camera 1 distortion parameters: [ ";
-            for(float d : settings.vPinHoleDistorsion1_){
+            for(float d : settings.vPinHoleDistortion1_){
                 output << " " << d;
             }
             output << " ]" << endl;
@@ -564,9 +564,9 @@ namespace ORB_SLAM3 {
             }
             output << " ]" << endl;
 
-            if(!settings.vPinHoleDistorsion2_.empty()){
+            if(!settings.vPinHoleDistortion2_.empty()){
                 output << "\t-Camera 1 distortion parameters: [ ";
-                for(float d : settings.vPinHoleDistorsion2_){
+                for(float d : settings.vPinHoleDistortion2_){
                     output << " " << d;
                 }
                 output << " ]" << endl;