diff --git a/include/basalt/io/dataset_io.h b/include/basalt/io/dataset_io.h
index 1a209ed..9f4843f 100644
--- a/include/basalt/io/dataset_io.h
+++ b/include/basalt/io/dataset_io.h
@@ -157,7 +157,7 @@ namespace cereal {
 
 template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
           int _MaxRows, int _MaxCols>
-inline
+static inline
     typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
                             void>::type
     save(Archive &ar, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
@@ -171,7 +171,7 @@ inline
 
 template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
           int _MaxRows, int _MaxCols>
-inline
+static inline
     typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
                             void>::type
     load(Archive &ar,
diff --git a/src/io/marg_data_io.cpp b/src/io/marg_data_io.cpp
index 11971e8..7e30677 100644
--- a/src/io/marg_data_io.cpp
+++ b/src/io/marg_data_io.cpp
@@ -222,7 +222,7 @@ void serialize(Archive& ar, basalt::ImageData& m) {
 }
 
 template <class Archive>
-void serialize(Archive& ar, Eigen::AffineCompact2f& m) {
+static void serialize(Archive& ar, Eigen::AffineCompact2f& m) {
   ar(m.matrix());
 }
 }  // namespace cereal
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 12b6290..2ae558c 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 12b6290f01aa49c15cfec4d8ed8f347323678297
+Subproject commit 2ae558ce2b494d21908391b89cf13df93d0dcfa9