diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9a7e39d10..86234afa8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -421,6 +421,10 @@ add_subdirectory(CppUnitLite)
 # Build wrap
 if (GTSAM_BUILD_WRAP)
     add_subdirectory(wrap)
+	# suppress warning of cython line being too long
+	if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation")
+	endif()
 endif(GTSAM_BUILD_WRAP)
 
 # Build GTSAM library
diff --git a/gtsam/geometry/tests/testEssentialMatrix.cpp b/gtsam/geometry/tests/testEssentialMatrix.cpp
index c923e398b..86a498cdc 100644
--- a/gtsam/geometry/tests/testEssentialMatrix.cpp
+++ b/gtsam/geometry/tests/testEssentialMatrix.cpp
@@ -159,7 +159,7 @@ TEST (EssentialMatrix, rotate) {
   Matrix actH1, actH2;
   try {
     bodyE.rotate(cRb, actH1, actH2);
-  } catch (exception e) {
+  } catch (exception& e) {
   } // avoid exception
   Matrix expH1 = numericalDerivative21(rotate_, bodyE, cRb), //
   expH2 = numericalDerivative22(rotate_, bodyE, cRb);
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index 0fb54a358..962fef277 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -29,6 +29,13 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
   bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration
   Vector3 n_gravity; ///< Gravity vector in nav frame
 
+  /// Default constructor for serialization only
+  PreintegrationParams()
+      : accelerometerCovariance(I_3x3),
+        integrationCovariance(I_3x3),
+        use2ndOrderCoriolis(false),
+        n_gravity(0, 0, -1) {}
+
   /// The Params constructor insists on getting the navigation frame gravity vector
   /// For convenience, two commonly used conventions are provided by named constructors below
   PreintegrationParams(const Vector3& n_gravity)
@@ -60,8 +67,6 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
   bool           getUse2ndOrderCoriolis()     const { return use2ndOrderCoriolis; }
 
 protected:
-  /// Default constructor for serialization only: uninitialized!
-  PreintegrationParams() {}
 
   /** Serialization function */
   friend class boost::serialization::access;
diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp
index 9f9781d2c..59d0ac199 100644
--- a/gtsam/navigation/tests/testImuFactorSerialization.cpp
+++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp
@@ -64,9 +64,9 @@ TEST(ImuFactor, serialization) {
 
   ImuFactor factor(1, 2, 3, 4, 5, pim);
 
-  EXPECT(equalsObj(factor));
-  EXPECT(equalsXML(factor));
-  EXPECT(equalsBinary(factor));
+  EXPECT(equalsObj<ImuFactor>(factor));
+  EXPECT(equalsXML<ImuFactor>(factor));
+  EXPECT(equalsBinary<ImuFactor>(factor));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index 4d928482e..d4eb655c3 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -175,6 +175,8 @@ public:
 
   /// @}
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
 
   /** Serialization function */
@@ -263,6 +265,8 @@ public:
     traits<X>::Print(value_, "Value");
   }
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
 
   /** Serialization function */
@@ -327,6 +331,8 @@ public:
     return traits<X>::Local(x1,x2);
   }
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
 
   /** Serialization function */
diff --git a/gtsam/nonlinear/utilities.h b/gtsam/nonlinear/utilities.h
index cf9fb9482..a78f7a2d0 100644
--- a/gtsam/nonlinear/utilities.h
+++ b/gtsam/nonlinear/utilities.h
@@ -237,13 +237,16 @@ Values localToWorld(const Values& local, const Pose2& base,
       // if value is a Pose2, compose it with base pose
       Pose2 pose = local.at<Pose2>(key);
       world.insert(key, base.compose(pose));
-    } catch (std::exception e1) {
+    } catch (const std::exception& e1) {
       try {
         // if value is a Point2, transform it from base pose
         Point2 point = local.at<Point2>(key);
         world.insert(key, base.transformFrom(point));
-      } catch (std::exception e2) {
+      } catch (const std::exception& e2) {
         // if not Pose2 or Point2, do nothing
+        #ifndef NDEBUG
+          std::cerr << "Values[key] is neither Pose2 nor Point2, so skip" << std::endl;
+        #endif
       }
     }
   }
diff --git a/gtsam_unstable/slam/AHRS.h b/gtsam_unstable/slam/AHRS.h
index f22de48cf..35b4677d5 100644
--- a/gtsam_unstable/slam/AHRS.h
+++ b/gtsam_unstable/slam/AHRS.h
@@ -77,6 +77,8 @@ public:
   void print(const std::string& s = "") const;
 
   virtual ~AHRS();
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 } /* namespace gtsam */