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/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 9c4e42edf8..260a509eb3 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>(dimB) = v2;
     return v;
   }
 
diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 837ba72632..c920db3ab5 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>
 
+#ifdef __GNUC__
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
 namespace gtsam {
 
 //*************************************************************************