Fix GCC 13 warnings

[Gold856]

Fixes #1967. Adds Ubuntu 24.04 with GCC 13 to the CI matrix so we can catch this on GitHub's CI.

[Gold856]

Error for BearingRange.h:

In file included from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ConfigureVectorization.h:346,
                 from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/Core:22,
                 from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /home/gold856/gtsam/gtsam/base/OptionalJacobian.h:24,
                 from /home/gold856/gtsam/gtsam/base/Matrix.h:27,
                 from /home/gold856/gtsam/gtsam/base/VerticalBlockMatrix.h:20,
                 from /home/gold856/gtsam/gtsam/nonlinear/internal/JacobianMap.h:23,
                 from /home/gold856/gtsam/gtsam/nonlinear/Expression.h:22,
                 from /home/gold856/gtsam/gtsam/nonlinear/ExpressionFactor.h:25,
                 from /home/gold856/gtsam/gtsam/sam/BearingRangeFactor.h:22,
                 from /home/gold856/gtsam/gtsam/slam/dataset.cpp:21:
In function ‘__m128d _mm_loadu_pd(const double*)’,
    inlined from ‘Packet Eigen::internal::ploadu(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h:746:22,
    inlined from ‘Packet Eigen::internal::ploadt(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double; int Alignment = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h:969:26,
    inlined from ‘PacketType Eigen::internal::evaluator<Eigen::PlainObjectBase<Derived> >::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 0; PacketType = __vector(2) double; Derived = Eigen::Matrix<double, 1, 1, 0, 1, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CoreEvaluators.h:238:42,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacket(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:675:116,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacketByOuterInner(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:689:48,
    inlined from ‘static void Eigen::internal::dense_assignment_loop<Kernel, 4, 0>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >, Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >, Eigen::internal::assign_op<double, double>, 0>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:572:86,
    inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Func = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Func = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:858:27,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:836:18,
    inlined from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h:66:28,
    inlined from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; XprType = Eigen::Matrix<double, 2, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h:48:51,
    inlined from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Matrix<double, 2, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h:159:72,
    inlined from ‘gtsam::BearingRange<A1, A2, B, R>::TangentVector gtsam::BearingRange<A1, A2, B, R>::localCoordinates(const gtsam::BearingRange<A1, A2, B, R>&) const [with A1 = gtsam::Pose2; A2 = Eigen::Matrix<double, 2, 1>; B = gtsam::Rot2; R = double]’ at /home/gold856/gtsam/gtsam/geometry/BearingRange.h:142:12:
/usr/lib/gcc/x86_64-linux-gnu/13/include/emmintrin.h:134:24: error: array subscript ‘__m128d_u[0]’ is partly outside array bounds of ‘gtsam::internal::LieGroupTraits<gtsam::Rot2>::TangentVector [1]’ {aka ‘Eigen::Matrix<double, 1, 1, 0, 1, 1> [1]’} [-Werror=array-bounds=]
  134 |   return *(__m128d_u *)__P;
      |                        ^~~
In file included from /home/gold856/gtsam/gtsam/sam/BearingRangeFactor.h:23:
/home/gold856/gtsam/gtsam/geometry/BearingRange.h: In member function ‘gtsam::BearingRange<A1, A2, B, R>::TangentVector gtsam::BearingRange<A1, A2, B, R>::localCoordinates(const gtsam::BearingRange<A1, A2, B, R>&) const [with A1 = gtsam::Pose2; A2 = Eigen::Matrix<double, 2, 1>; B = gtsam::Rot2; R = double]’:
/home/gold856/gtsam/gtsam/geometry/BearingRange.h:139:39: note: object ‘v1’ of size 8
  139 |     typename traits<B>::TangentVector v1 = traits<B>::Local(bearing_, other.bearing_);

[Gold856]

Blocked by #1738

[jmackay2]

Should probably keep the pattern and add clang for ubuntu 24.04 as well.

[jmackay2]

This is probably the simplest solution for now, but it is nice that in Eigen 3.4 the SVD implementations have an info() method that can be used to check it and fix the uninitialized warning.

Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
if (svd.info() != Eigen::ComputationInfo::Success) {
    throw std::runtime_error("FundamentalMatrix::FundamentalMatrix unsuccessful svd computation");
}