diff --git a/include/manif/impl/eigen.h b/include/manif/impl/eigen.h
index faf67c9b..ab075260 100644
--- a/include/manif/impl/eigen.h
+++ b/include/manif/impl/eigen.h
@@ -1,6 +1,8 @@
 #ifndef _MANIF_MANIF_EIGEN_H_
 #define _MANIF_MANIF_EIGEN_H_
 
+#include <cassert>
+
 #include <Eigen/Core>
 #include <Eigen/LU> // for mat.inverse()
 #include <Eigen/Geometry>
diff --git a/test/bundle/gtest_bundle.cpp b/test/bundle/gtest_bundle.cpp
index 199baff9..7c4b247e 100644
--- a/test/bundle/gtest_bundle.cpp
+++ b/test/bundle/gtest_bundle.cpp
@@ -100,8 +100,6 @@ TEST(Bundle, Interface)
   EXPECT_EIGEN_NEAR(G_Ginv.element<1>().inverse().coeffs(), SO3d::Identity().coeffs());
   EXPECT_EIGEN_NEAR(G_Ginv.element<2>().inverse().coeffs(), R1d::Identity().coeffs());
 
-  typename GroupA::Vector vec;
-
   auto adj = G.adj();
   Eigen::Matrix2d adj0 = adj.block<2, 2>(0, 0);
   EXPECT_EIGEN_NEAR(adj0, G.element<0>().adj());