Merge pull request #1927 from fspindle/fix_various_doc_cxx98

Various improvements in doc, cxx98 compat and java

Author: fspindle

CMakeLists.txt

@@ -487,7 +487,7 @@ VP_OPTION(BUILD_TESTS  "" "" "Build ViSP tests" "" ON)
 VP_OPTION(BUILD_COVERAGE "" "" "Enables test coverage" "" OFF IF (BUILD_TESTS AND (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANGCXX)))
 
 # Build java as an option
-VP_OPTION(BUILD_JAVA  "" "" "Enable Java support" "" (ANDROID OR NOT CMAKE_CROSSCOMPILING)  IF (ANDROID OR (NOT APPLE_FRAMEWORK AND NOT WINRT)) )
+VP_OPTION(BUILD_JAVA  "" "" "Enable Java support" "" (ANDROID OR NOT CMAKE_CROSSCOMPILING)  IF (ANDROID OR ((NOT APPLE_FRAMEWORK AND NOT WINRT)) AND NOT (VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)) )
 VP_OPTION(BUILD_FAT_JAVA_LIB  "" "" "Create Java wrapper exporting all functions of ViSP library (requires static build of ViSP modules)" "" ANDROID IF NOT BUILD_SHARED_LIBS)
 VP_OPTION(BUILD_ANDROID_SERVICE   "" "" "Build ViSP Manager for Google Play"          "" OFF IF ANDROID )
 VP_OPTION(BUILD_ANDROID_PROJECTS  "" "" "Build Android projects providing .apk files" "" ON  IF ANDROID )
@@ -598,7 +598,7 @@ VP_CHECK_PACKAGE(C99)
 VP_OPTION(USE_AFMA6       ""          ""    "Include Afma6 robot support"      "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
 VP_OPTION(USE_VIPER650    ""          ""    "Include Viper s650 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
 VP_OPTION(USE_VIPER850    ""          ""    "Include Viper s850 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
-VP_OPTION(USE_UR_RTDE     ur_rtde     QUIET "Include Universal Robot RTDE C++ interface support for UR robots" "" ON IF NOT WINRT AND NOT IOS)
+VP_OPTION(USE_UR_RTDE     ur_rtde     QUIET "Include Universal Robot RTDE C++ interface support for UR robots" "" ON IF NOT WINRT AND NOT IOS AND NOT (USE_CXX_STANDARD STREQUAL "98"))
 VP_OPTION(USE_VIRTUOSE    Virtuose    ""    "Include Virtuose SDK support for Haption devices" "" ON IF NOT WINRT)
 VP_OPTION(USE_ARSDK       ARSDK       QUIET "Include Parrot ARSDK support"     "" ON IF NOT WINRT AND NOT IOS)
 if(USE_ARSDK)
@@ -820,6 +820,11 @@ if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
     unset(USE_XML2)
     set(USE_XML2 OFF CACHE BOOL "Include libxml2 support" FORCE)
   endif()
+  if(USE_VICON)
+    message(WARNING "Vicon SDK 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable vicon usage turning USE_VICON=OFF.")
+    unset(USE_VICON)
+    set(USE_VICON OFF CACHE BOOL "Include Vicon SDK support" FORCE)
+  endif()
   if(USE_QUALISYS)
     message(WARNING "Qualisys SDK 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable qualisys usage turning USE_QUALISYS=OFF.")
     unset(USE_QUALISYS)

ChangeLog.txt

@@ -29,6 +29,8 @@ ViSP 3.7.1 (current version)
     . [#1901] The app visp-calibrate-camera references default-chessboard.cfg and
               default-circles.cfg config files that are missing from installation
     . [#1909] Fix build failure when apriltag is deactivated
+    . [#1929] Support for the C++98 standard is not properly implemented
+    . [#1930] Build issue in vpMocapVicon.cpp when c++98 enabled
 ----------------------------------------------
 ViSP 3.7.0 (released December 19, 2025)
   - Contributors:

cmake/AddExtraCompilationFlags.cmake

@@ -45,12 +45,12 @@ macro(add_extra_compiler_options options)
   foreach(option ${options})
     vp_check_flag_support(CXX "${option}" _varname "${VISP_EXTRA_CXX_FLAGS}")
     if(${_varname})
-      set(VISP_EXTRA_CXX_FLAGS "${VISP_EXTRA_CXX_FLAGS} ${option}")
+      list(APPEND VISP_EXTRA_CXX_FLAGS ${option})
     endif()
 
     vp_check_flag_support(C "${option}" _varname "${VISP_EXTRA_C_FLAGS}")
     if(${_varname})
-      set(VISP_EXTRA_C_FLAGS "${VISP_EXTRA_C_FLAGS} ${option}")
+      list(APPEND VISP_EXTRA_C_FLAGS ${option})
     endif()
   endforeach()
 endmacro()
@@ -65,7 +65,7 @@ macro(add_extra_compiler_option_enabling option var_enabling flag)
     set(${var_enabling} ${flag} CACHE BOOL ${__msg})
   endif()
   if(${${var_enabling}})
-    set(VISP_EXTRA_CXX_FLAGS "${VISP_EXTRA_CXX_FLAGS} ${option}")
+    list(APPEND VISP_EXTRA_CXX_FLAGS ${option})
   else()
     vp_list_filterout(VISP_EXTRA_CXX_FLAGS ${option})
   endif()
@@ -144,7 +144,9 @@ if(USE_THREADS OR USE_PTHREAD)
   endif()
 endif()
 
-if((VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_11) AND CXX11_CXX_FLAGS)
+if((VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_98) AND CXX98_CXX_FLAGS)
+  add_extra_compiler_options("${CXX98_CXX_FLAGS}")
+elseif((VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_11) AND CXX11_CXX_FLAGS)
   add_extra_compiler_options("${CXX11_CXX_FLAGS}")
 elseif((VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_14) AND CXX14_CXX_FLAGS)
   add_extra_compiler_options("${CXX14_CXX_FLAGS}")

doc/tutorial/windows/tutorial-install-win10-mingw-w64.dox

@@ -381,11 +381,11 @@ We give hereafter the two ways to get this data set:
 \subsection install_win10_mingw_dataset_release 5.1. Get data set release
 
 - Download the latest dataset release from https://visp.inria.fr/download and uncompress it in your workspace
-  `%%VISP_WS%`. At the time this tutorial was written, the latest release was `visp-images-3.73zip`.
+  `%%VISP_WS%`. At the time this tutorial was written, the latest release was `visp-images-3.7.3.zip`.
 \image html  img-win-visp-images-git.jpg
 - Once downloaded, you need to set `VISP_INPUT_IMAGE_PATH` environment variable to help ViSP examples
 and tests to detect automatically the location of the requested data. In our case, this variable should
-be set to `%%VISP_WS%\visp-images-3.7.3. Open a `cmd` Command Prompt and run
+be set to `%%VISP_WS%\visp-images-3.7.3`. Open a `cmd` Command Prompt and run
 \code{.sh}
 C:\\> setx VISP_INPUT_IMAGE_PATH %VISP_WS%\visp-images-3.7.3
 C:\\> exit

modules/core/include/visp3/core/vpColVector.h

@@ -698,10 +698,14 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    */
   vpColVector &operator=(vpColVector &&v);
 
-  /*!
-   * Set vector elements and size from a list of values.
-   * \param list : List of double. Vector size matches the number of elements.
-   * \return The modified vector.
+  /**
+   * \brief Assigns a list of values to the vector using an initializer list.
+   * This operator allows for easy vector population using the curly brace syntax.
+   * The vector is automatically resized to match the size of the provided list.
+   *
+   * \param[in] list A {value1, value2, ...} list of doubles.
+   * \return A reference to the modified vpColVector (*this).
+   *
    * \code
    * #include <visp3/core/vpColVector.h>
    *
@@ -711,17 +715,17 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    *
    * int main()
    * {
-   *   vpColVector c;
-   *   c = { 0, -1, -2 };
-   *   std::cout << "c:\n" << c << std::endl;
+   *   vpColVector v;
+   *   v = { 0.1, -1.1, -2.2 }; // Vector is resized to 3 and filled
+   *   std::cout << "v:\n" << v << std::endl;
    * }
    * \endcode
    * It produces the following printings:
    * \code
-   * c:
-   * 0
-   * -1
-   * -2
+   * v:
+   * 0.1
+   * -1.1
+   * -2.2
    * \endcode
    * \sa operator<<()
    */

modules/core/src/math/matrix/vpColVector.cpp

@@ -493,14 +493,19 @@ vpColVector &vpColVector::operator=(vpColVector &&other)
 }
 
 /**
- * @brief Create a column vector view of a raw data array.
- * The view can modify the contents of the raw data array,
- * but may not resize it and does not own it: the memory is not released by the vector
- * and it should be freed by the user after the view is released.
- *
- * @param[in] raw_data The raw data.
- * @param[in] nrows : Number of rows of the raw data.
- * @return The column vector view.
+ * \brief Creates a column vector that acts as a view over an existing raw data array.
+ * This factory method wraps an external buffer into a vpColVector object.
+ * Modifications made through the returned vector will directly affect the original
+ * buffer.
+ * \warning
+ * - The vector **does not own** the memory.
+ * - The user is responsible for ensuring the `raw_data` pointer remains valid
+ * as long as the view is in use.
+ * - The memory must be manually freed by the user after the view is destroyed.
+ * - The vector cannot be resized.
+ * \param[in] raw_data  Pointer to the external double array.
+ * \param[in] nrows     Number of elements (rows) in the array.
+ * \return A vpColVector mapping the provided memory buffer.
  */
 vpColVector vpColVector::view(double *raw_data, unsigned int nrows)
 {
@@ -509,14 +514,21 @@ vpColVector vpColVector::view(double *raw_data, unsigned int nrows)
   return v;
 }
 
-
-void vpColVector::view(vpColVector &v, double *data, unsigned int rows)
+/**
+ * \brief Maps an existing vpColVector instance to a raw data array.
+ * Similar to the static factory method, this version configures a pre-existing
+ * vector object to point to the external `raw_data`.
+ * \note This is more memory-efficient if you already have a vector object allocated
+ * on the stack, as it avoids a return-by-value.
+ * \param[out] v        The vector to be configured as a view.
+ * \param[in]  raw_data Pointer to the external double array.
+ * \param[in]  rows     Number of elements (rows) in the array.
+ */
+void vpColVector::view(vpColVector &v, double *raw_data, unsigned int rows)
 {
-  vpArray2D<double>::view(v, data, rows, 1);
+  vpArray2D<double>::view(v, raw_data, rows, 1);
 }
 
-
-
 vpColVector &vpColVector::operator=(const std::initializer_list<double> &list)
 {
   resize(static_cast<unsigned int>(list.size()), false);
@@ -971,7 +983,7 @@ vpColVector vpColVector::hadamard(const vpColVector &v) const
   }
 #endif
   return out;
-  }
+}
 
 double vpColVector::infinityNorm() const
 {

modules/detection/src/tag/vpDetectorAprilTag.cpp

@@ -1528,11 +1528,19 @@ std::string vpDetectorAprilTag::tagFamilyToString(const vpDetectorAprilTag::vpAp
 
 vpDetectorAprilTag::vpAprilTagFamily vpDetectorAprilTag::tagFamilyFromString(const std::string &name)
 {
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  vpDetectorAprilTag::vpAprilTagFamily res = vpDetectorAprilTag::TAG_COUNT;
+#else
   vpDetectorAprilTag::vpAprilTagFamily res = vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT;
+#endif
   bool wasFound = false;
   std::string lowerCaseName = vpIoTools::toLowerCase(name);
   unsigned int i = 0;
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  while ((i < vpDetectorAprilTag::TAG_COUNT) && (!wasFound)) {
+#else
   while ((i < vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT) && (!wasFound)) {
+#endif
     vpDetectorAprilTag::vpAprilTagFamily candidate = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(i);
     if (lowerCaseName == tagFamilyToString(candidate)) {
       res = candidate;
@@ -1544,19 +1552,27 @@ vpDetectorAprilTag::vpAprilTagFamily vpDetectorAprilTag::tagFamilyFromString(con
     throw(vpException(vpException::badValue, "Could not find a tag family that corresponds to the name '%s'", name.c_str()));
   }
   return res;
-}
+  }
 
 std::string vpDetectorAprilTag::getAvailableTagFamily(const std::string &prefix, const std::string &sep, const std::string &suffix)
 {
   std::string modes(prefix);
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  for (unsigned int i = 0; i < vpDetectorAprilTag::TAG_COUNT - 1; ++i) {
+#else
   for (unsigned int i = 0; i < vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT - 1; ++i) {
+#endif
     vpDetectorAprilTag::vpAprilTagFamily candidate = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(i);
     modes += tagFamilyToString(candidate) + sep;
   }
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  vpDetectorAprilTag::vpAprilTagFamily candidate = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(vpDetectorAprilTag::TAG_COUNT - 1);
+#else
   vpDetectorAprilTag::vpAprilTagFamily candidate = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT - 1);
+#endif
   modes += tagFamilyToString(candidate) + suffix;
   return modes;
-}
+  }
 
 std::string vpDetectorAprilTag::poseMethodToString(const vpDetectorAprilTag::vpPoseEstimationMethod &method)
 {
@@ -1592,11 +1608,19 @@ std::string vpDetectorAprilTag::poseMethodToString(const vpDetectorAprilTag::vpP
 
 vpDetectorAprilTag::vpPoseEstimationMethod vpDetectorAprilTag::poseMethodFromString(const std::string &name)
 {
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  vpDetectorAprilTag::vpPoseEstimationMethod res = vpDetectorAprilTag::POSE_COUNT;
+#else
   vpDetectorAprilTag::vpPoseEstimationMethod res = vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT;
+#endif
   bool wasFound = false;
   std::string lowerCaseName = vpIoTools::toLowerCase(name);
   unsigned int i = 0;
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  while ((i < vpDetectorAprilTag::POSE_COUNT) && (!wasFound)) {
+#else
   while ((i < vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT) && (!wasFound)) {
+#endif
     vpDetectorAprilTag::vpPoseEstimationMethod candidate = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(i);
     if (lowerCaseName == poseMethodToString(candidate)) {
       res = candidate;
@@ -1608,19 +1632,27 @@ vpDetectorAprilTag::vpPoseEstimationMethod vpDetectorAprilTag::poseMethodFromStr
     throw(vpException(vpException::badValue, "Could not find a pose estimation method that corresponds to the name '%s'", name.c_str()));
   }
   return res;
-}
+  }
 
 std::string vpDetectorAprilTag::getAvailablePoseMethod(const std::string &prefix, const std::string &sep, const std::string &suffix)
 {
   std::string modes(prefix);
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  for (unsigned int i = 0; i < vpDetectorAprilTag::POSE_COUNT - 1; ++i) {
+#else
   for (unsigned int i = 0; i < vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT - 1; ++i) {
+#endif
     vpDetectorAprilTag::vpPoseEstimationMethod candidate = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(i);
     modes += poseMethodToString(candidate) + sep;
   }
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+  vpDetectorAprilTag::vpPoseEstimationMethod candidate = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(vpDetectorAprilTag::POSE_COUNT - 1);
+#else
   vpDetectorAprilTag::vpPoseEstimationMethod candidate = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT - 1);
+#endif
   modes += poseMethodToString(candidate) + suffix;
   return modes;
-}
+  }
 
 #ifdef VISP_HAVE_NLOHMANN_JSON
 void to_json(nlohmann::json &j, const vpDetectorAprilTag &detector)

modules/tracker/mbt/include/visp3/mbt/vpMbtTukeyEstimator.h

@@ -135,7 +135,7 @@ END_VISP_NAMESPACE
 #if ((__cplusplus >= 201402L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201402L)))
 auto AbsDiff = [](const auto &a, const auto &b) { return std::fabs(a - b); };
 #else
-template <typename T> struct AbsDiff : public std::binary_function<T, T, T>
+template <typename T> struct AbsDiff
 {
   T operator()(const T a, const T b) const { return std::fabs(a - b); }
 };