Various improvements in doc, cxx98 compat and java by fspindle · Pull Request #1927 · lagadic/visp

fspindle · 2026-03-13T13:04:31Z

Fix warnings in vpDetectorAprilTag.cpp when cxx98 enabled
Improve code documentation in vpColVector class
Fix doxygen warning around missing code end tag
Disable java build when cxx98 is enabled
Disable ur_rtde 3rdparty when c++98 is set

Java requires at least cxx11

- vpColVector &operator=(const std::initializer_list<double> &list); - static vpColVector view(double *raw_data, unsigned int rows); - static void view(vpColVector &v, double *raw_data, unsigned int rows);

warning: use of enumeration in a nested name specifier is a C++11 extension [-Wc++11-extensions]

s-trinh · 2026-03-13T15:32:59Z

When doing

visp/.github/workflows/ubuntu-dep-apt.yml

Lines 69 to 73 in 12b2236

    
               - name: Install ur_rtde dependency 
        
                 run: | 
        
                   sudo add-apt-repository -y ppa:sdurobotics/ur-rtde 
        
                   sudo apt-get update 
        
                   sudo apt install -y librtde librtde-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev

For some reason it looks like it passes -std=c++11 flag to the ViSP build.

See the log:

2026-03-13T14:49:26.0022453Z cd /home/runner/work/visp/visp/build/3rdparty/pugixml-1.14 && /usr/bin/g++  -I/home/runner/work/visp/visp/3rdparty/pugixml-1.14 -I/home/runner/work/visp/visp/build/include -fPIC -O3 -DNDEBUG -std=c++11 -fvisibility=hidden -fvisibility-inlines-hidden -MD -MT 3rdparty/pugixml-1.14/CMakeFiles/visp_pugixml.dir/pugixml.cpp.o -MF CMakeFiles/visp_pugixml.dir/pugixml.cpp.o.d -o CMakeFiles/visp_pugixml.dir/pugixml.cpp.o -c /home/runner/work/visp/visp/3rdparty/pugixml-1.14/pugixml.cpp

With C++98 build:

2026-03-13T16:32:51.0700186Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1531:66: error: ‘vpDetectorAprilTag::vpAprilTagFamily’ is not a class or namespace
2026-03-13T16:32:51.0701972Z  1531 |   vpDetectorAprilTag::vpAprilTagFamily res = vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT;
2026-03-13T16:32:51.0702921Z       |                                                                  ^~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0704653Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1535:35: error: ‘vpDetectorAprilTag::vpAprilTagFamily’ is not a class or namespace
2026-03-13T16:32:51.0706239Z  1535 |   while ((i < vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT) && (!wasFound)) {
2026-03-13T16:32:51.0707010Z       |                                   ^~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0709408Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp: In static member function ‘static std::string vpDetectorAprilTag::getAvailableTagFamily(const std::string&, const std::string&, const std::string&)’:
2026-03-13T16:32:51.0712400Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1552:52: error: ‘vpDetectorAprilTag::vpAprilTagFamily’ is not a class or namespace
2026-03-13T16:32:51.0714040Z  1552 |   for (unsigned int i = 0; i < vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT - 1; ++i) {
2026-03-13T16:32:51.0714873Z       |                                                    ^~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0759843Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1556:122: error: ‘vpDetectorAprilTag::vpAprilTagFamily’ is not a class or namespace
2026-03-13T16:32:51.0762651Z  1556 |   vpDetectorAprilTag::vpAprilTagFamily candidate = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(vpDetectorAprilTag::vpAprilTagFamily::TAG_COUNT - 1);
2026-03-13T16:32:51.0764501Z       |                                                                                                                          ^~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0767533Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp: In static member function ‘static vpDetectorAprilTag::vpPoseEstimationMethod vpDetectorAprilTag::poseMethodFromString(const std::string&)’:
2026-03-13T16:32:51.0770767Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1595:72: error: ‘vpDetectorAprilTag::vpPoseEstimationMethod’ is not a class or namespace
2026-03-13T16:32:51.0772617Z  1595 |   vpDetectorAprilTag::vpPoseEstimationMethod res = vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT;
2026-03-13T16:32:51.0773680Z       |                                                                        ^~~~~~~~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0775479Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1599:35: error: ‘vpDetectorAprilTag::vpPoseEstimationMethod’ is not a class or namespace
2026-03-13T16:32:51.0777142Z  1599 |   while ((i < vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT) && (!wasFound)) {
2026-03-13T16:32:51.0807626Z       |                                   ^~~~~~~~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0810088Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp: In static member function ‘static std::string vpDetectorAprilTag::getAvailablePoseMethod(const std::string&, const std::string&, const std::string&)’:
2026-03-13T16:32:51.0812997Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1616:52: error: ‘vpDetectorAprilTag::vpPoseEstimationMethod’ is not a class or namespace
2026-03-13T16:32:51.0814949Z  1616 |   for (unsigned int i = 0; i < vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT - 1; ++i) {
2026-03-13T16:32:51.0815783Z       |                                                    ^~~~~~~~~~~~~~~~~~~~~~
2026-03-13T16:32:51.0817655Z /home/runner/work/visp/visp/modules/detection/src/tag/vpDetectorAprilTag.cpp:1620:134: error: ‘vpDetectorAprilTag::vpPoseEstimationMethod’ is not a class or namespace
2026-03-13T16:32:51.0820192Z  1620 |   vpDetectorAprilTag::vpPoseEstimationMethod candidate = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(vpDetectorAprilTag::vpPoseEstimationMethod::POSE_COUNT - 1);
2026-03-13T16:32:51.0821890Z       |                                                                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
2026-03-13T16:32:51.2220198Z make[2]: *** [modules/detection/CMakeFiles/visp_detection.dir/build.make:138: modules/detection/CMakeFiles/visp_detection.dir/src/tag/vpDetectorAprilTag.cpp.o] Error 1

The C++98 build on GHA is broken for some time.

s-trinh · 2026-03-13T17:23:24Z

Same here, C++98 logs give plenty of std=c++11 on C++98 config:

gcc:

clang:

codecov · 2026-03-13T19:51:43Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 48.41%. Comparing base (572d511) to head (41a3fb2).
⚠️ Report is 10 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1927      +/-   ##
==========================================
- Coverage   48.44%   48.41%   -0.03%     
==========================================
  Files         532      532              
  Lines       69328    69328              
  Branches    32424    32424              
==========================================
- Hits        33584    33566      -18     
- Misses      25028    31515    +6487     
+ Partials    10716     4247    -6469

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In file included from visp/modules/tracker/mbt/include/visp3/mbt/vpMbDepthDenseTracker.h:41, from visp/modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h:43, from visp/modules/tracker/mbt/src/vpMbGenericTracker.cpp:34: visp/modules/tracker/mbt/include/visp3/mbt/vpMbtTukeyEstimator.h:138:52: warning: ‘template<class _Arg1, class _Arg2, class _Result> struct std::binary_function’ is deprecated [-Wdeprecated-declarations] 138 | template <typename T> struct AbsDiff : public std::binary_function<T, T, T> | ^~~~~~~~~~~~~~~ In file included from /usr/include/c++/13/string:49, from /usr/include/c++/13/bitset:52, from /usr/include/c++/13/regex:40, from visp-build/include/visp3/core/vpConfig.h:639, from visp/modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h:42: /usr/include/c++/13/bits/stl_function.h:131:12: note: declared here 131 | struct binary_function | ^~~~~~~~~~~~~~~

…more as a string)

…Closes 1929 ur_rtde 3rdparty is forcing the standard to C++11. This could be seen in /usr/lib/x86_64-linux-gnu/cmake/ur_rtde/ur_rtdeBuildConfig.cmake where we can found if ("${CMAKE_CXX_STANDARD}" STREQUAL "") set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED ON) elseif(${CMAKE_CXX_STANDARD} LESS_EQUAL 11 OR ${CMAKE_CXX_STANDARD} EQUAL 98 ) set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED ON) endif()

…1930 Vicon SDK requires at least c++11 standard. There is the build issue when c++98 is set and VISP_HAVE_VICON is defined In file included from visp/modules/sensor/src/mocap/vpMocapVicon.cpp:44: visp-ws/3rdparty/vicon/20230413_145507h/Release/Linux64/DataStreamClient.h:43:10: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type 43 | std::shared_ptr< std::vector< unsigned char > > m_Data; | ^~~~~~~~~~

fspindle added 4 commits March 13, 2026 13:57

Disable java build when cxx98 is enabled

02a8564

Java requires at least cxx11

Fix doxygen warning around missing code end tag

80ea681

Improve code documentation in vpColVector class

a1ab46b

- vpColVector &operator=(const std::initializer_list<double> &list); - static vpColVector view(double *raw_data, unsigned int rows); - static void view(vpColVector &v, double *raw_data, unsigned int rows);

Fix warnings in vpDetectorAprilTag.cpp when cxx98 enabled

572d511

warning: use of enumeration in a nested name specifier is a C++11 extension [-Wc++11-extensions]

fspindle mentioned this pull request Mar 13, 2026

Test C++11 code on GHA with C++98 config. #1926

Closed

fspindle added 7 commits March 15, 2026 10:56

Merge branch 'master' into fix_various_doc_cxx98

34f7179

Handle VISP_EXTRA_CXX_FLAGS and VISP_EXTRA_C_FLAGS as a list (and no …

d2654a5

…more as a string)

Add explicit -std=c++98 compiler flag when USE_CXX_STANDARD=98

349fd35

Update change log with fixed issues

41a3fb2

fspindle merged commit ea0b13a into lagadic:master Mar 15, 2026
87 checks passed

fspindle mentioned this pull request Mar 15, 2026

Support for the C++98 standard is not properly implemented #1929

Closed

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Various improvements in doc, cxx98 compat and java#1927

Various improvements in doc, cxx98 compat and java#1927
fspindle merged 11 commits intolagadic:masterfrom
fspindle:fix_various_doc_cxx98

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