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 1/2] 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 417c37c45..52744e508 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 2995e8c45..9a46e066e 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 9c4e42edf..9deb31b69 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -138,8 +138,10 @@ public:
   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 837ba7263..5c5e02715 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 68e0de0f0..b748f83ed 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;

From d6ccb57241618d425a2a85c8b36c92ce2ed4cb2a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 22 Jan 2025 23:20:41 -0500
Subject: [PATCH 2/2] Fix c++20 issue

---
 gtsam/navigation/tests/testGPSFactor.cpp | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp
index f240e5dbf..62456bb0d 100644
--- a/gtsam/navigation/tests/testGPSFactor.cpp
+++ b/gtsam/navigation/tests/testGPSFactor.cpp
@@ -38,18 +38,17 @@ static const auto& kWGS84 = Geocentric::WGS84();
 // *************************************************************************
 namespace example {
 // ENU Origin is where the plane was in hold next to runway
-const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
+static constexpr double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
 
 // Convert from GPS to ENU
-LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
+static const LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
 
 // Dekalb-Peachtree Airport runway 2L
-const double lat = 33.87071, lon = -84.30482, h = 274;\
+static constexpr double lat = 33.87071, lon = -84.30482, h = 274;
 
 // Random lever arm
-const Point3 leverArm(0.1, 0.2, 0.3);
-
-}
+static const Point3 leverArm(0.1, 0.2, 0.3);
+}  // namespace example
 
 // *************************************************************************
 TEST( GPSFactor, Constructor ) {
@@ -135,7 +134,7 @@ TEST( GPSFactorArmCalib, Constructor ) {
 
   // Calculate numerical derivatives
   Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
-      [&factor, &leverArm](const Pose3& pose_arg) {
+      [&factor](const Pose3& pose_arg) {
         return factor.evaluateError(pose_arg, leverArm);
       },
       T);
@@ -235,7 +234,7 @@ TEST( GPSFactor2ArmCalib, Constructor ) {
 
   // Calculate numerical derivatives
   Matrix expectedH1 = numericalDerivative11<Vector, NavState>(
-      [&factor, &leverArm](const NavState& nav_arg) {
+      [&factor](const NavState& nav_arg) {
         return factor.evaluateError(nav_arg, leverArm);
       },
       T);