diff --git a/modules/vision/include/visp3/vision/vpPoseFeatures.h b/modules/vision/include/visp3/vision/vpPoseFeatures.h
index 2e4324bc48..7428e422c5 100644
--- a/modules/vision/include/visp3/vision/vpPoseFeatures.h
+++ b/modules/vision/include/visp3/vision/vpPoseFeatures.h
@@ -41,7 +41,7 @@
 
 #include <visp3/core/vpConfig.h>
 
-#ifdef VISP_HAVE_MODULE_VISUAL_FEATURES
+#if defined(VISP_HAVE_MODULE_VISUAL_FEATURES) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 #include <visp3/core/vpCircle.h>
 #include <visp3/core/vpCylinder.h>
@@ -60,8 +60,6 @@
 
 #include <iostream>
 #include <vector>
-
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 #include <tuple>
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
@@ -384,7 +382,6 @@ class vpPoseSpecificFeatureTemplateObject : public vpPoseSpecificFeature
   }
 };
 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
-#endif // (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 /*!
  * \class vpPoseFeatures
@@ -494,7 +491,6 @@ class VISP_EXPORT vpPoseFeatures
    */
   void addFeatureSegment(vpPoint &, vpPoint &);
 
-#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
   /*!
    * Add a specific feature for the pose computation.
    */
@@ -506,7 +502,6 @@ class VISP_EXPORT vpPoseFeatures
    */
   template <typename ObjType, typename RetType, typename... ArgsFunc, typename... Args>
   void addSpecificFeature(ObjType *obj, RetType(ObjType:: *fct_ptr)(ArgsFunc...), Args &&...args);
-#endif
 
   /*!
    * Clear all the features
@@ -666,7 +661,6 @@ class VISP_EXPORT vpPoseFeatures
   void computePoseRobustVVS(vpHomogeneousMatrix &cMo);
 };
 
-#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
 /*!
  * Add a specific feature for the pose computation.
  *
@@ -813,6 +807,5 @@ void vpPoseFeatures::addSpecificFeature(ObjType *obj, RetType(ObjType:: *fct_ptr
     m_maxSize = static_cast<unsigned int>(m_featureSpecific_list.size());
 }
 #endif
-#endif //#ifdef VISP_HAVE_MODULE_VISUAL_FEATURES
 
 #endif
diff --git a/modules/vision/src/pose-estimation/vpPoseFeatures.cpp b/modules/vision/src/pose-estimation/vpPoseFeatures.cpp
index 958bf2b998..113fd30b2c 100644
--- a/modules/vision/src/pose-estimation/vpPoseFeatures.cpp
+++ b/modules/vision/src/pose-estimation/vpPoseFeatures.cpp
@@ -32,7 +32,7 @@
  */
 #include <visp3/vision/vpPoseFeatures.h>
 
-#ifdef VISP_HAVE_MODULE_VISUAL_FEATURES
+#if defined(VISP_HAVE_MODULE_VISUAL_FEATURES) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
 vpPoseFeatures::vpPoseFeatures()
   : m_maxSize(0), m_totalSize(0), m_vvsIterMax(200), m_lambda(1.0), m_verbose(false), m_computeCovariance(false),
@@ -81,11 +81,9 @@ void vpPoseFeatures::clear()
     delete m_featureSegment_DuoPoints_list[(unsigned int)i].desiredFeature;
   m_featureSegment_DuoPoints_list.clear();
 
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   for (int i = (int)m_featureSpecific_list.size() - 1; i >= 0; i--)
     delete m_featureSpecific_list[(unsigned int)i];
   m_featureSpecific_list.clear();
-#endif
 
   m_maxSize = 0;
   m_totalSize = 0;
@@ -305,14 +303,12 @@ void vpPoseFeatures::error_and_interaction(vpHomogeneousMatrix &cMo, vpColVector
       L.stack(fs.interaction());
     }
 
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
     //--------------Specific Feature--------------
     if (i < m_featureSpecific_list.size()) {
       m_featureSpecific_list[i]->createCurrent(cMo);
       err.stack(m_featureSpecific_list[i]->error());
       L.stack(m_featureSpecific_list[i]->currentInteraction());
     }
-#endif
   }
 }
 
@@ -466,5 +462,7 @@ void vpPoseFeatures::computePoseRobustVVS(vpHomogeneousMatrix &cMo)
     throw;
   }
 }
-
-#endif //#ifdef VISP_HAVE_MODULE_VISUAL_FEATURES
+#elif !defined(VISP_BUILD_SHARED_LIBS)
+// Work around to avoid warning: libvisp_vision.a(vpPoseFeatures.cpp.o) has no symbols
+void dummy_vpPoseFeatures() { };
+#endif