From a3f2bddb66d107a76e8143cbc9a19f37f76265b6 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Tue, 21 Jan 2025 00:04:41 -0500
Subject: [PATCH] Fix GCC 13 build issues

---
 examples/TriangulationLOSTExample.cpp | 6 +++---
 gtsam/basis/tests/testFourier.cpp     | 4 ++++
 gtsam/geometry/BearingRange.h         | 4 +++-
 gtsam/geometry/FundamentalMatrix.cpp  | 4 ++++
 gtsam/slam/tests/testRotateFactor.cpp | 3 +++
 5 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/examples/TriangulationLOSTExample.cpp b/examples/TriangulationLOSTExample.cpp
index 417c37c459..52744e508b 100644
--- a/examples/TriangulationLOSTExample.cpp
+++ b/examples/TriangulationLOSTExample.cpp
@@ -123,9 +123,9 @@ int main(int argc, char* argv[]) {
 
   double rank_tol = 1e-9;
   std::shared_ptr<Cal3_S2> calib = std::make_shared<Cal3_S2>();
-  std::chrono::nanoseconds durationDLT;
-  std::chrono::nanoseconds durationDLTOpt;
-  std::chrono::nanoseconds durationLOST;
+  std::chrono::nanoseconds durationDLT{};
+  std::chrono::nanoseconds durationDLTOpt{};
+  std::chrono::nanoseconds durationLOST{};
 
   for (int i = 0; i < nrTrials; i++) {
     Point2Vector noisyMeasurements =
diff --git a/gtsam/basis/tests/testFourier.cpp b/gtsam/basis/tests/testFourier.cpp
index 2995e8c454..9a46e066e8 100644
--- a/gtsam/basis/tests/testFourier.cpp
+++ b/gtsam/basis/tests/testFourier.cpp
@@ -22,6 +22,10 @@
 #include <gtsam/basis/Fourier.h>
 #include <gtsam/nonlinear/factorTesting.h>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic warning "-Wstringop-overread"
+#pragma GCC diagnostic warning "-Warray-bounds"
+#endif
 using namespace std;
 using namespace gtsam;
 
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 9c4e42edf8..9deb31b69e 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -138,8 +138,10 @@ struct BearingRange {
   TangentVector localCoordinates(const BearingRange& other) const {
     typename traits<B>::TangentVector v1 = traits<B>::Local(bearing_, other.bearing_);
     typename traits<R>::TangentVector v2 = traits<R>::Local(range_, other.range_);
+    // Set the first dimB elements to v1, and the next dimR elements to v2
     TangentVector v;
-    v << v1, v2;
+    v.template head<dimB>() = v1;
+    v.template tail<dimR>() = v2;
     return v;
   }
 
diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 837ba72632..5c5e027155 100644
--- a/gtsam/geometry/FundamentalMatrix.cpp
+++ b/gtsam/geometry/FundamentalMatrix.cpp
@@ -9,6 +9,10 @@
 #include <gtsam/geometry/FundamentalMatrix.h>
 #include <gtsam/geometry/Point2.h>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
 namespace gtsam {
 
 //*************************************************************************
diff --git a/gtsam/slam/tests/testRotateFactor.cpp b/gtsam/slam/tests/testRotateFactor.cpp
index 68e0de0f09..b748f83ed7 100644
--- a/gtsam/slam/tests/testRotateFactor.cpp
+++ b/gtsam/slam/tests/testRotateFactor.cpp
@@ -14,6 +14,9 @@
 
 #include <vector>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
 using namespace std;
 using namespace std::placeholders;
 using namespace gtsam;