diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 5340804..a2f7377 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -211,6 +211,24 @@ mojave-relwithdebinfo-compile:
   variables:
     BUILD_TYPE: CiRelWithDebInfo
 
+catalina-relwithdebinfo-compile:
+  <<: *compile_test_definition
+  tags: [macos, "10.15"]
+  only:
+    - master
+  variables:
+    BUILD_TYPE: CiRelWithDebInfo
+
+catalina-brewclang-relwithdebinfo-compile:
+  <<: *compile_test_definition
+  tags: [macos, "10.15"]
+  only:
+    - master
+  variables:
+    BUILD_TYPE: CiRelWithDebInfo
+    CC: /usr/local/opt/llvm/bin/clang
+    CXX: /usr/local/opt/llvm/bin/clang++
+
 # check if clang-format would make any changes
 clang-format:
   tags:
@@ -416,4 +434,4 @@ focal-repository-check:
   <<: *repository_check_definition
   variables:
     GIT_STRATEGY: none
-    REPO_NAME: focal
\ No newline at end of file
+    REPO_NAME: focal
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a6c4683..e3f5c27 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,7 +104,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "App
 
   if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10)
       # These are disabled to avoid lot's of warnings in Eigen code with clang 10
-      set(BASALT_CXX_FLAGS "${BASALT_HEADERS_CXX_FLAGS} -Wno-error=misleading-indentation -Wno-error=deprecated-copy")
+      set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-misleading-indentation -Wno-error=deprecated-copy")
   endif()
 
   #   - Added TBB_USE_GLIBCXX_VERSION macro to specify the version of GNU
@@ -121,7 +121,7 @@ else()
 
   if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9)
       # These are disabled to avoid lot's of warnings in Eigen code with gcc-9
-      set(BASALT_CXX_FLAGS "${BASALT_HEADERS_CXX_FLAGS} -Wno-error=deprecated-copy")
+      set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=deprecated-copy")
   endif()
 endif()
 
diff --git a/src/calibration/calibraiton_helper.cpp b/src/calibration/calibraiton_helper.cpp
index 4a2879f..323f26d 100644
--- a/src/calibration/calibraiton_helper.cpp
+++ b/src/calibration/calibraiton_helper.cpp
@@ -46,8 +46,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opengv/relative_pose/methods.hpp>
 
 #include <opengv/sac/Ransac.hpp>
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
 #include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp>
 #include <opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp>
+#pragma GCC diagnostic pop
 
 #include <opencv2/calib3d/calib3d.hpp>
 
@@ -65,7 +69,9 @@ bool estimateTransformation(
 
   for (size_t i = 0; i < corners.size(); i++) {
     Eigen::Vector4d tmp;
-    cam_calib.unproject(corners[i], tmp);
+    if (!cam_calib.unproject(corners[i], tmp)) {
+      continue;
+    }
     Eigen::Vector3d bearing = tmp.head<3>();
     Eigen::Vector3d point = aprilgrid_corner_pos_3d[corner_ids[i]].head<3>();
     bearing.normalize();
diff --git a/src/calibration/cam_calib.cpp b/src/calibration/cam_calib.cpp
index da21587..b70f402 100644
--- a/src/calibration/cam_calib.cpp
+++ b/src/calibration/cam_calib.cpp
@@ -486,7 +486,8 @@ void CamCalib::initCamIntrinsics() {
   for (size_t j = 0; j < vio_dataset->get_num_cams(); j++) {
     if (!cam_initialized[j]) {
       std::vector<CalibCornerData *> pinhole_corners;
-      int w, h;
+      int w = 0;
+      int h = 0;
 
       for (size_t i = 0; i < vio_dataset->get_image_timestamps().size();
            i += inc) {
@@ -507,6 +508,8 @@ void CamCalib::initCamIntrinsics() {
         h = img_vec[j].img->h;
       }
 
+      BASALT_ASSERT(w > 0 && h > 0);
+
       Eigen::Vector4d init_intr;
 
       bool success = CalibHelper::initializeIntrinsicsPinhole(
diff --git a/src/utils/keypoints.cpp b/src/utils/keypoints.cpp
index 8625996..b66c08e 100644
--- a/src/utils/keypoints.cpp
+++ b/src/utils/keypoints.cpp
@@ -43,7 +43,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
 #include <opengv/relative_pose/methods.hpp>
 #include <opengv/sac/Ransac.hpp>
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
 #include <opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp>
+#pragma GCC diagnostic pop
 
 namespace basalt {
 
diff --git a/thirdparty/CMakeLists.txt b/thirdparty/CMakeLists.txt
index 24bcf5d..f715be7 100644
--- a/thirdparty/CMakeLists.txt
+++ b/thirdparty/CMakeLists.txt
@@ -79,6 +79,16 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION
   target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
 endif()
 
+# fix pangolin: clang >= 10.0
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0.0)
+  target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy")
+endif()
+
+# fix pangolin: GCC >= 9.0
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9.0)
+  target_compile_options(pangolin PRIVATE "-Wno-stringop-truncation;-Wno-deprecated-copy")
+endif()
+
 # check here the directories for the pangolin and opengv targets, and
 # confirm that the eigen-related include dirs match.
 foreach(_target opengv pangolin)
diff --git a/thirdparty/ros/CMakeLists.txt b/thirdparty/ros/CMakeLists.txt
index 7709a5f..f684b89 100644
--- a/thirdparty/ros/CMakeLists.txt
+++ b/thirdparty/ros/CMakeLists.txt
@@ -1,8 +1,12 @@
 cmake_minimum_required(VERSION 3.2)
 
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
-SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wno-unused-parameter -Wno-deprecated-declarations")
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -Wno-deprecated-declarations")
+
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9)
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-catch-value")
+endif()
 
 #find_package(catkin REQUIRED COMPONENTS cpp_common roscpp_serialization roscpp_traits rostime roslz4)
 find_package(Boost REQUIRED COMPONENTS date_time filesystem program_options regex)