diff --git a/src/LidarVisual_TEST.cc b/src/LidarVisual_TEST.cc
index 5cc600e7b..d45491d76 100644
--- a/src/LidarVisual_TEST.cc
+++ b/src/LidarVisual_TEST.cc
@@ -120,6 +120,9 @@ void LidarVisualTest::LidarVisual(const std::string &_renderEngine)
                           10, 3.5};
   lidar->SetPoints(pts);
   EXPECT_EQ(pts.size(), lidar->PointCount());
+
+  lidar->PreRender();
+
   lidar->ClearPoints();
   EXPECT_EQ(lidar->PointCount(), 0u);
 
diff --git a/src/Marker_TEST.cc b/src/Marker_TEST.cc
index 7510df123..0f228020d 100644
--- a/src/Marker_TEST.cc
+++ b/src/Marker_TEST.cc
@@ -19,9 +19,10 @@
 #include <ignition/common/Console.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
+#include "ignition/rendering/Marker.hh"
+#include "ignition/rendering/Material.hh"
 #include "ignition/rendering/RenderEngine.hh"
 #include "ignition/rendering/RenderingIface.hh"
-#include "ignition/rendering/Marker.hh"
 #include "ignition/rendering/Scene.hh"
 
 using namespace ignition;
@@ -32,6 +33,9 @@ class MarkerTest : public testing::Test,
                    public testing::WithParamInterface<const char *>
 {
   public: void Marker(const std::string &_renderEngine);
+
+  /// \brief Test setting material
+  public: void Material(const std::string &_renderEngine);
 };
 
 /////////////////////////////////////////////////
@@ -79,12 +83,26 @@ void MarkerTest::Marker(const std::string &_renderEngine)
   marker->SetType(MarkerType::MT_CAPSULE);
   EXPECT_EQ(MarkerType::MT_CAPSULE, marker->Type());
 
+  // test attaching marker to visual
+  VisualPtr visual = scene->CreateVisual();
+  ASSERT_NE(nullptr, visual);
+  visual->AddGeometry(marker);
+
   marker->SetType(MarkerType::MT_CYLINDER);
   EXPECT_EQ(MarkerType::MT_CYLINDER, marker->Type());
 
+  marker->SetType(MarkerType::MT_BOX);
+  EXPECT_EQ(MarkerType::MT_BOX, marker->Type());
+
+  marker->SetType(MarkerType::MT_SPHERE);
+  EXPECT_EQ(MarkerType::MT_SPHERE, marker->Type());
+
   marker->SetType(MarkerType::MT_NONE);
   EXPECT_EQ(MarkerType::MT_NONE, marker->Type());
 
+  marker->SetType(static_cast<MarkerType>(99));
+  EXPECT_EQ(static_cast<MarkerType>(99), marker->Type());
+
   marker->SetType(MarkerType::MT_POINTS);
   EXPECT_EQ(MarkerType::MT_POINTS, marker->Type());
 
@@ -103,6 +121,13 @@ void MarkerTest::Marker(const std::string &_renderEngine)
   marker->SetType(MarkerType::MT_TRIANGLE_FAN);
   EXPECT_EQ(MarkerType::MT_TRIANGLE_FAN, marker->Type());
 
+  // set same type again
+  marker->SetType(MarkerType::MT_TRIANGLE_FAN);
+  EXPECT_EQ(MarkerType::MT_TRIANGLE_FAN, marker->Type());
+
+  // attach to visual again
+  EXPECT_NO_THROW(visual->AddGeometry(marker));
+
   // exercise point api
   EXPECT_NO_THROW(marker->AddPoint(math::Vector3d(0, 1, 2),
       math::Color::White));
@@ -118,12 +143,65 @@ void MarkerTest::Marker(const std::string &_renderEngine)
   rendering::unloadEngine(engine->Name());
 }
 
+/////////////////////////////////////////////////
+void MarkerTest::Material(const std::string &_renderEngine)
+{
+  if (_renderEngine == "optix")
+  {
+    igndbg << "Marker not supported yet in rendering engine: "
+           << _renderEngine << std::endl;
+    return;
+  }
+
+  RenderEngine *engine = rendering::engine(_renderEngine);
+  if (!engine)
+  {
+    igndbg << "Engine '" << _renderEngine
+           << "' is not supported" << std::endl;
+    return;
+  }
+
+  ScenePtr scene = engine->CreateScene("scene");
+
+  MarkerPtr marker = scene->CreateMarker();
+  ASSERT_NE(nullptr, marker);
+
+  EXPECT_NO_THROW(marker->SetMaterial(MaterialPtr(), false));
+  EXPECT_EQ(nullptr, marker->Material());
+
+  MaterialPtr material = scene->CreateMaterial();
+  ASSERT_NE(nullptr, material);
+  material->SetDiffuse(0.1, 0.2, 0.3);
+
+  marker->SetType(MarkerType::MT_NONE);
+  EXPECT_EQ(MarkerType::MT_NONE, marker->Type());
+  marker->SetMaterial(material, false);
+  EXPECT_EQ(material, marker->Material());
+
+  marker->SetType(MarkerType::MT_BOX);
+  EXPECT_EQ(MarkerType::MT_BOX, marker->Type());
+  marker->SetMaterial(material, false);
+  EXPECT_EQ(material, marker->Material());
+
+  marker->SetType(MarkerType::MT_LINE_STRIP);
+  EXPECT_EQ(MarkerType::MT_LINE_STRIP, marker->Type());
+  marker->SetMaterial(material, true);
+  EXPECT_NE(material, marker->Material());
+  EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f), marker->Material()->Diffuse());
+}
+
 /////////////////////////////////////////////////
 TEST_P(MarkerTest, Marker)
 {
   Marker(GetParam());
 }
 
+/////////////////////////////////////////////////
+TEST_P(MarkerTest, Material)
+{
+  Material(GetParam());
+}
+
 INSTANTIATE_TEST_CASE_P(Marker, MarkerTest,
     RENDER_ENGINE_VALUES,
     ignition::rendering::PrintToStringParam());