diff --git a/include/basalt/optimization/poses_optimize.h b/include/basalt/optimization/poses_optimize.h
index 4bd47ca..6ec0bc4 100644
--- a/include/basalt/optimization/poses_optimize.h
+++ b/include/basalt/optimization/poses_optimize.h
@@ -114,8 +114,7 @@ class PosesOptimization {
     }
   }
 
-  void saveCalib(const std::string &path,
-                 int64_t mocap_to_imu_offset_ns = 0) const {
+  void saveCalib(const std::string &path) const {
     if (calib) {
       std::ofstream os(path + "calibration.json");
       cereal::JSONOutputArchive archive(os);
diff --git a/src/calibration/cam_calib.cpp b/src/calibration/cam_calib.cpp
index 4c2ea9d..9c75ef2 100644
--- a/src/calibration/cam_calib.cpp
+++ b/src/calibration/cam_calib.cpp
@@ -796,7 +796,7 @@ bool CamCalib::optimizeWithParam(bool print_info,
 
 void CamCalib::saveCalib() {
   if (calib_opt) {
-    calib_opt->saveCalib(cache_path, vio_dataset->get_mocap_to_imu_offset_ns());
+    calib_opt->saveCalib(cache_path);
 
     std::cout << "Saved calibration in " << cache_path << "calibration.json"
               << std::endl;
diff --git a/src/mapper.cpp b/src/mapper.cpp
index 81c4dde..8b78723 100644
--- a/src/mapper.cpp
+++ b/src/mapper.cpp
@@ -339,6 +339,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t view_id) {
+  UNUSED(v);
+
   size_t frame_id = (view_id == 0) ? show_frame1 : show_frame2;
   size_t cam_id = (view_id == 0) ? show_cam1 : show_cam2;
 
diff --git a/src/mapper_sim_naive.cpp b/src/mapper_sim_naive.cpp
index 25b97ac..926c123 100644
--- a/src/mapper_sim_naive.cpp
+++ b/src/mapper_sim_naive.cpp
@@ -396,6 +396,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t cam_id) {
+  UNUSED(v);
+
   size_t frame_id = show_frame;
   basalt::TimeCamId tcid(kf_t_ns[frame_id], cam_id);
 
diff --git a/src/opt_flow.cpp b/src/opt_flow.cpp
index 36395c7..66a0102 100644
--- a/src/opt_flow.cpp
+++ b/src/opt_flow.cpp
@@ -279,6 +279,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t cam_id) {
+  UNUSED(v);
+
   size_t frame_id = static_cast<size_t>(show_frame);
   int64_t t_ns = vio_dataset->get_image_timestamps()[frame_id];
 
diff --git a/src/rs_t265_record.cpp b/src/rs_t265_record.cpp
index 04f7390..925eb79 100644
--- a/src/rs_t265_record.cpp
+++ b/src/rs_t265_record.cpp
@@ -365,6 +365,8 @@ int main(int argc, char *argv[]) {
       std::shared_ptr<pangolin::ImageView> iv(new pangolin::ImageView);
 
       iv->extern_draw_function = [&, idx](pangolin::View &v) {
+        UNUSED(v);
+
         glLineWidth(1.0);
         glColor3f(1.0, 0.0, 0.0);  // red
         glEnable(GL_BLEND);
@@ -389,6 +391,8 @@ int main(int argc, char *argv[]) {
 
       iv->OnSelectionCallback =
           [&](pangolin::ImageView::OnSelectionEventData o) {
+            UNUSED(o);
+
             int64_t curr_t_ns = std::chrono::high_resolution_clock::now()
                                     .time_since_epoch()
                                     .count();
diff --git a/src/rs_t265_vio.cpp b/src/rs_t265_vio.cpp
index 3fa7f8c..24c10b1 100644
--- a/src/rs_t265_vio.cpp
+++ b/src/rs_t265_vio.cpp
@@ -359,6 +359,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t cam_id) {
+  UNUSED(v);
+
   if (show_obs) {
     glLineWidth(1.0);
     glColor3f(1.0, 0.0, 0.0);
diff --git a/src/vio.cpp b/src/vio.cpp
index d494ec7..630c59c 100644
--- a/src/vio.cpp
+++ b/src/vio.cpp
@@ -487,6 +487,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t cam_id) {
+  UNUSED(v);
+
   //  size_t frame_id = show_frame;
   //  basalt::TimeCamId tcid =
   //      std::make_pair(vio_dataset->get_image_timestamps()[frame_id],
diff --git a/src/vio_sim.cpp b/src/vio_sim.cpp
index 7e108a2..f291782 100644
--- a/src/vio_sim.cpp
+++ b/src/vio_sim.cpp
@@ -423,6 +423,8 @@ int main(int argc, char** argv) {
 }
 
 void draw_image_overlay(pangolin::View& v, size_t cam_id) {
+  UNUSED(v);
+
   size_t frame_id = show_frame;
   basalt::TimeCamId tcid(gt_frame_t_ns[frame_id], cam_id);