Reintroduce compat with cxx98

3rdparty/apriltag/common/string_util.cpp

@@ -36,11 +36,6 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "string_util.h"
 #include "zarray.h"
 
-// fix va_copy missing with msvc11 Visual 2012
-#ifdef _MSC_VER
-#define my_va_copy(dest, src) (dest = src)
-#endif
-
 struct string_buffer
 {
     char *s;
@@ -50,59 +45,6 @@ struct string_buffer
 
 #define MIN_PRINTF_ALLOC 16
 
-char *sprintf_alloc(const char *fmt, ...)
-{
-    assert(fmt != NULL);
-
-    va_list args;
-
-    va_start(args,fmt);
-    char *buf = vsprintf_alloc(fmt, args);
-    va_end(args);
-
-    return buf;
-}
-
-char *vsprintf_alloc(const char *fmt, va_list orig_args)
-{
-    assert(fmt != NULL);
-
-    int size = MIN_PRINTF_ALLOC;
-    char *buf = (char *)malloc(size * sizeof(char));
-
-    int returnsize;
-    va_list args;
-
-#ifdef _MSC_VER
-    my_va_copy(args, orig_args);
-#else
-    va_copy(args, orig_args);
-#endif
-    returnsize = vsnprintf(buf, size, fmt, args);
-    va_end(args);
-
-    // it was successful
-    if (returnsize < size) {
-        return buf;
-    }
-
-    // otherwise, we should try again
-    free(buf);
-    size = returnsize + 1;
-    buf = (char *)malloc(size * sizeof(char));
-
-#ifdef _MSC_VER
-    my_va_copy(args, orig_args);
-#else
-    va_copy(args, orig_args);
-#endif
-    returnsize = vsnprintf(buf, size, fmt, args);
-    va_end(args);
-
-    assert(returnsize <= size);
-    return buf;
-}
-
 char *_str_concat_private(const char *first, ...)
 {
     size_t len = 0;

3rdparty/simdlib/Simd/SimdBaseCustomFunctions.cpp

@@ -195,7 +195,7 @@ namespace Simd
         {
             for (size_t i = 0; i < size; i++) {
                 int diff = img1[i] - img2[i] + 128;
-                imgDiff[i] = static_cast<unsigned char>(std::max(std::min(diff, 255), 0));
+                imgDiff[i] = static_cast<unsigned char>(std::max<int>(std::min<int>(diff, 255), 0));
             }
         }
 

3rdparty/tinyexr/tinyexr.h

@@ -7385,7 +7385,11 @@ static size_t SaveEXRNPartImageToMemory(const EXRImage* exr_images,
         {
           size_t len = 0;
           if ((len = strlen(exr_headers[i]->name)) > 0) {
+#if TINYEXR_HAS_CXX11
             partnames.emplace(exr_headers[i]->name);
+#else
+            partnames.insert(std::string(exr_headers[i]->name));
+#endif
             if (partnames.size() != i + 1) {
               SetErrorMessage("'name' attributes must be unique for a multi-part file", err);
               return 0;

CMakeLists.txt

@@ -622,19 +622,7 @@ VP_OPTION(USE_ZBAR        ZBAR         ""    "Include zbar support"         "" O
 VP_OPTION(USE_DMTX        DMTX         ""    "Include dmtx support"         "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_PCL         PCL          QUIET "Include Point Cloud Library support" "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_TENSORRT    TensorRT     ""    "Include TensorRT support"     "" ON IF NOT WINRT AND NOT IOS)
-VP_OPTION(USE_NLOHMANN_JSON  nlohmann_json QUIET "Include nlohmann json support" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98))
-
-# ----------------------------------------------------------------------------
-# Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
-# ----------------------------------------------------------------------------
-# if c++ standard is not at leat c++17, force 3rd parties that require at least c++17 to OFF
-if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
-  if(USE_MAVSDK)
-    message(WARNING "mavsdk 3rd party was detected and needs at least c++17 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable MAVSDK usage turning USE_MAVSDK=OFF.")
-    unset(USE_MAVSDK)
-    set(USE_MAVSDK OFF CACHE BOOL "Include mavsdk support for mavlink compatible devices" FORCE)
-  endif()
-endif()
+VP_OPTION(USE_NLOHMANN_JSON nlohmann_json QUIET "Include nlohmann json support" "" ON)
 
 # Upgrade c++ standard to 14 for pcl 1.9.1.99 that enables by default c++ 14 standard
 if(USE_PCL)
@@ -648,27 +636,49 @@ if(USE_PCL)
   # That's why here, we are using vp_find_pcl() macro that will set PCL_DEPS_INCLUDE_DIRS and PCL_DEPS_LIBRARIES
   # that contains also VTK material location.
   vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
-  if(PCL_VERSION VERSION_GREATER 1.9.1)
+endif()
+
+# ----------------------------------------------------------------------------
+# Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
+# ----------------------------------------------------------------------------
+# if c++ standard is not at leat c++17, force 3rd parties that require at least c++17 to OFF
+if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
+  if(USE_MAVSDK)
+    message(WARNING "mavsdk 3rd party was detected and needs at least c++17 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable MAVSDK usage turning USE_MAVSDK=OFF.")
+    unset(USE_MAVSDK)
+    set(USE_MAVSDK OFF CACHE BOOL "Include mavsdk support for mavlink compatible devices" FORCE)
+  endif()
+endif()
+
+if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14)
+  if(USE_FTIITSDK)
+    message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_OPENCV=OFF.")
+    unset(USE_FTIITSDK)
+    set(USE_FTIITSDK OFF CACHE BOOL "Include IIT force-torque SDK support" FORCE)
+  endif()
+  if(USE_PCL AND (PCL_VERSION VERSION_GREATER 1.9.1))
     # pcl > 1.9.1 requires c++14
-    # if c++14 option is OFF, force to c++14
-    if((VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14) AND CXX14_STANDARD_FOUND)
-      message(WARNING "pcl ${PCL_VERSION} 3rd party was detected and needs c++14 compiler flags that is turned off. Thus to enable pcl usage we turn USE_CXX_STANDARD=14.")
-      set(USE_CXX_STANDARD "14" CACHE STRING "cxx standard" FORCE) # Update cmake-gui option
-      unset(CMAKE_CXX_STANDARD)
-      set(CMAKE_CXX_STANDARD 14)
-      set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_14}) # for vpConfig.h
-    endif()
+    message(WARNING "pcl 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable pcl usage turning USE_PCL=OFF.")
+    unset(USE_PCL)
+    set(USE_PCL OFF CACHE BOOL "Include pcl support" FORCE)
   endif()
 endif()
 
-# Upgrade c++ standard to 14 for IIT force-torque SDK that needs at least c++ 14 standard
-if(USE_FTIITSDK)
-  if((VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14) AND CXX14_STANDARD_FOUND)
-    message(WARNING "IIT force-torque SDK 3rd party was detected and needs c++14 compiler flags that is turned off. Thus to enable IIT SDK usage we turn USE_CXX_STANDARD=14.")
-    set(USE_CXX_STANDARD "14" CACHE STRING "cxx standard" FORCE) # Update cmake-gui option
-    unset(CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 14)
-    set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_14}) # for vpConfig.h
+if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
+  if(USE_OPENCV)
+    message(WARNING "OpenCV 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
+    unset(USE_OPENCV)
+    set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
+  endif()
+  if(USE_NLOHMANN_JSON)
+    message(WARNING "nlohmann json 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable nlohmann json usage turning USE_NLOHMANN_JSON=OFF.")
+    unset(USE_NLOHMANN_JSON)
+    set(USE_NLOHMANN_JSON OFF CACHE BOOL "Include nlohmann json support" FORCE)
+  endif()
+  if(USE_REALSENSE2)
+    message(WARNING "librealsense2 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable realsense2 usage turning USE_REALSENSE2=OFF.")
+    unset(USE_REALSENSE2)
+    set(USE_REALSENSE2 OFF CACHE BOOL "Include librealsense2 support" FORCE)
   endif()
 endif()
 
@@ -682,17 +692,41 @@ VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Build AprilTag big family (41h12,
 VP_OPTION(WITH_ATIDAQ     ""           ""    "Build atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
 VP_OPTION(WITH_CLIPPER    ""           ""    "Build clipper as built-in library"   "" ON IF USE_OPENCV)
 VP_OPTION(WITH_LAPACK     ""           ""    "Build lapack as built-in library"    "" ON IF NOT USE_LAPACK)
-VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in library" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WINRT) AND (NOT IOS))
-VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
-VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98))
+VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
+VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2 built-in library" "" ON)
 VP_OPTION(WITH_POLOLU     ""           ""    "Build rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_PUGIXML    ""           ""    "Use pugixml built-in third-party" "" ON)
 VP_OPTION(WITH_SIMDLIB    ""           ""    "Use simdlib built-in third-party" "" ON)
 VP_OPTION(WITH_STBIMAGE   ""           ""    "Use std_image built-in third-party" "" ON)
 VP_OPTION(WITH_TINYEXR    ""           ""    "Use tinyexr built-in third-party" "" ON)
 
+if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
+  if(WITH_CATCH2)
+    message(WARNING "catch2 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable catch2 usage turning WITH_CATCH2=OFF.")
+    unset(WITH_CATCH2)
+    set(WITH_CATCH2 OFF CACHE BOOL "Use catch2 built-in library" FORCE)
+  endif()
+  if(WITH_POLOLU)
+    message(WARNING "pololu 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable pololu usage turning WITH_POLOLU=OFF.")
+    unset(WITH_POLOLU)
+    set(WITH_POLOLU OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
+  endif()
+  if(WITH_QBDEVICE)
+    message(WARNING "qbdevice-api 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable qbdevice usage turning WITH_QBDEVICE=OFF.")
+    unset(WITH_QBDEVICE)
+    set(WITH_QBDEVICE OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
+  endif()
+  if(WITH_TAKKTILE2)
+    message(WARNING "Right Hand takktile2 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable takktile2 usage turning WITH_TAKKTILE2=OFF.")
+    unset(WITH_TAKKTILE2)
+    set(WITH_TAKKTILE2 OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
+  endif()
+endif()
+
 # ----------------------------------------------------------------------------
-# Check for specific functions. Should be after cxx standard detection in VISPDetectCXXStandard.cmake and potential modification depending on pcl, realsense2, libfranka
+# Check for specific functions. Should be after cxx standard detection in VISPDetectCXXStandard.cmake and
+# potential modification depending on pcl, realsense2, libfranka
 # ----------------------------------------------------------------------------
 VP_CHECK_PACKAGE(IsNaN)
 VP_CHECK_PACKAGE(IsInf)
@@ -1027,6 +1061,7 @@ VP_SET(VISP_HAVE_DC1394_FIND_CAMERAS     TRUE IF (USE_DC1394 AND DC1394_FIND_CAM
 VP_SET(VISP_HAVE_D3D9        TRUE IF USE_DIRECT3D) # for header vpConfig.h
 VP_SET(VISP_HAVE_GTK         TRUE IF USE_GTK2) # for header vpConfig.h
 VP_SET(VISP_HAVE_XRANDR      TRUE IF XRANDR) # for header vpConfig.h
+VP_SET(VISP_HAVE_NULLPTR     TRUE IF HAVE_NULLPTR) # for header vpConfig.h
 
 # Check if libfreenect dependencies (ie libusb-1.0 and threads) are available
 if(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_THREADS)

cmake/templates/vpConfig.h.in

@@ -561,6 +561,23 @@
 #  define VISP_HAVE_DATASET_VERSION ${VISP_HAVE_DATASET_VERSION}
 #endif
 
+// Defined if nullptr is available
+#cmakedefine VISP_HAVE_NULLPTR
+
+// Emulate nullptr when not available when cxx98 is enabled
+#if (!defined(VISP_HAVE_NULLPTR)) && (__cplusplus == 199711L)
+#include <visp3/core/vpNullptrEmulated.h>
+#endif
+
+// Macro to be able to add override keyword
+#ifndef vp_override
+  #if (__cplusplus >= 201103L) || (defined(_MSC_VER) && _MSC_VER >= 1600)
+    #define vp_override override
+  #else
+    #define vp_override
+  #endif
+#endif
+
 // Handle portable symbol export.
 // Defining manually which symbol should be exported is required
 // under Windows whether MinGW or MSVC is used.

example/device/framegrabber/getRealSense2Info.cpp

@@ -42,7 +42,7 @@
 #include <iostream>
 #include <visp3/sensor/vpRealSense2.h>
 
-#if defined(VISP_HAVE_REALSENSE2)
+#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 int main()
 {

example/device/framegrabber/grabRealSense2.cpp

@@ -44,7 +44,8 @@
 #include <visp3/core/vpConfig.h>
 #include <visp3/core/vpTime.h>
 
-#if defined(VISP_HAVE_REALSENSE2) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
+#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) \
+  && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
 
 #ifdef VISP_HAVE_PCL
 #include <mutex>

example/device/framegrabber/grabRealSense2_T265.cpp

@@ -50,7 +50,7 @@
 #include <visp3/gui/vpDisplayX.h>
 #include <visp3/sensor/vpRealSense2.h>
 
-#if defined(VISP_HAVE_REALSENSE2) && \
+#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)&& \
     (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
 
 int main()

example/device/framegrabber/readRealSenseData.cpp

@@ -40,7 +40,7 @@
 
 #include <visp3/core/vpConfig.h>
 
-#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
+#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
 #include <condition_variable>
 #include <fstream>
 #include <mutex>

example/device/framegrabber/saveRealSenseData.cpp

@@ -39,7 +39,7 @@
 #include <iostream>
 
 #include <visp3/core/vpConfig.h>
-#if (defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2)) && \
+#if (defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2)) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
     (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_PUGIXML)
 
 #include <condition_variable>

example/math/quadprog.cpp

@@ -47,7 +47,7 @@
 #include <iostream>
 #include <visp3/core/vpConfig.h>
 
-#if defined(VISP_HAVE_LAPACK)
+#if defined(VISP_HAVE_LAPACK) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 #include <visp3/core/vpQuadProg.h>
 #include <visp3/core/vpTime.h>
@@ -177,6 +177,14 @@ int main(int argc, char **argv)
 #endif
   return EXIT_SUCCESS;
 }
+#elif !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+int main()
+{
+  std::cout << "You did not build ViSP with c++11 or higher compiler flag" << std::endl;
+  std::cout << "Tip:" << std::endl;
+  std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
+  return EXIT_SUCCESS;
+}
 #else
 int main()
 {

example/math/quadprog_eq.cpp

@@ -47,7 +47,7 @@
 #include <iostream>
 #include <visp3/core/vpConfig.h>
 
-#if defined(VISP_HAVE_LAPACK)
+#if defined(VISP_HAVE_LAPACK) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 #include "qp_plot.h"
 #include <visp3/core/vpQuadProg.h>
@@ -204,6 +204,14 @@ int main(int argc, char **argv)
   }
 #endif
 }
+#elif !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+int main()
+{
+  std::cout << "You did not build ViSP with c++11 or higher compiler flag" << std::endl;
+  std::cout << "Tip:" << std::endl;
+  std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
+  return EXIT_SUCCESS;
+}
 #else
 int main()
 {