Fix GCC 13 build issues

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 durationDLT{};
-  std::chrono::nanoseconds durationDLTOpt;
+  std::chrono::nanoseconds durationDLTOpt{};
-  std::chrono::nanoseconds durationLOST;
+  std::chrono::nanoseconds durationLOST{};
 
   for (int i = 0; i < nrTrials; i++) {
     Point2Vector noisyMeasurements =

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;
 

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;
   }
 

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 {
 
 //*************************************************************************

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;