diff --git a/.vscode/settings.json b/.vscode/settings.json
index fdb73f9c6c..6d0919271e 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -137,7 +137,8 @@
     "xstring": "cpp",
     "xtr1common": "cpp",
     "xtree": "cpp",
-    "xutility": "cpp"
+    "xutility": "cpp",
+    "execution": "cpp"
   },
   "C_Cpp.vcFormat.indent.namespaceContents": false,
   "editor.formatOnSave": true,
diff --git a/cmake/VISPUtils.cmake b/cmake/VISPUtils.cmake
index 90015561b3..b6d9118098 100644
--- a/cmake/VISPUtils.cmake
+++ b/cmake/VISPUtils.cmake
@@ -1333,37 +1333,22 @@ endmacro()
 
 # Get package version from pkg-config
 macro(vp_get_version_from_pkg LIBNAME PKG_PATH OUTPUT_VAR)
-  find_package(PkgConfig)
-  if(PkgConfig_FOUND)
-    # Since pkg_check_modules updates not only <xxx>_VERSION but also <xxx>_FOUND, <xxx>_INCLUDE_DIRS and <xxx>_LIBRARIES
-    # we make a backup of these 3 vars to ensure compat with previous vp_get_version_from_pkg() behavior
-    string(TOUPPER ${LIBNAME} LIBNAME_UPPER)
-    if(${LIBNAME_UPPER}_INCLUDE_DIRS)
-      set(${LIBNAME_UPPER}_INCLUDE_DIRS_backup ${${LIBNAME_UPPER}_INCLUDE_DIRS})
-    endif()
-    if(${LIBNAME_UPPER}_FOUND)
-      set(${LIBNAME_UPPER}_FOUND_backup ${${LIBNAME_UPPER}_FOUND})
-    endif()
-    if(${LIBNAME_UPPER}_LIBRARIES)
-      set(${LIBNAME_UPPER}_LIBRARIES_backup ${${LIBNAME_UPPER}_LIBRARIES})
-    endif()
-    pkg_check_modules(${LIBNAME_UPPER} QUIET ${LIBNAME})
-    if(${LIBNAME_UPPER}_FOUND_backup)
-      set(${LIBNAME_UPPER}_FOUND ${${LIBNAME_UPPER}_FOUND_backup})
-    endif()
-    if(${LIBNAME_UPPER}_INCLUDE_DIRS_backup)
-      set(${LIBNAME_UPPER}_INCLUDE_DIRS ${${LIBNAME_UPPER}_INCLUDE_DIRS_backup})
-    endif()
-    if(${LIBNAME_UPPER}_LIBRARIES_backup)
-      set(${LIBNAME_UPPER}_LIBRARIES ${${LIBNAME_UPPER}_LIBRARIES_backup})
-    endif()
-    if(${LIBNAME_UPPER}_VERSION)
-      set(${OUTPUT_VAR} ${${LIBNAME_UPPER}_VERSION})
-    endif()
-  elseif(EXISTS "${PKG_PATH}/${LIBNAME}.pc")
+  if(EXISTS "${PKG_PATH}/${LIBNAME}.pc")
     # Consider the case where pkg-config is not installed
     file(STRINGS "${PKG_PATH}/${LIBNAME}.pc" line_to_parse REGEX "^Version:[ \t]+[0-9.]*.*$" LIMIT_COUNT 1)
     string(REGEX REPLACE ".*Version: ([^ ]+).*" "\\1" ${OUTPUT_VAR} "${line_to_parse}" )
+  else()
+    find_package(PkgConfig)
+    if(PkgConfig_FOUND)
+      string(TOUPPER ${LIBNAME} LIBNAME_UPPER)
+      pkg_get_variable(${LIBNAME_UPPER}_PCFILEDIR ${LIBNAME} pcfiledir)
+      if(EXISTS "${${LIBNAME_UPPER}_PCFILEDIR}/${LIBNAME}.pc")
+        file(STRINGS "${${LIBNAME_UPPER}_PCFILEDIR}/${LIBNAME}.pc" line_to_parse REGEX "^Version:[ \t]+[0-9.]*.*$" LIMIT_COUNT 1)
+        string(REGEX REPLACE ".*Version: ([^ ]+).*" "\\1" ${OUTPUT_VAR} "${line_to_parse}" )
+        unset(LIBNAME_UPPER)
+        mark_as_advanced(${LIBNAME_UPPER}_PCFILEDIR)
+      endif()
+    endif()
   endif()
 endmacro()
 
diff --git a/modules/core/include/visp3/core/vpQuaternionVector.h b/modules/core/include/visp3/core/vpQuaternionVector.h
index 86081b5300..1de7a148da 100644
--- a/modules/core/include/visp3/core/vpQuaternionVector.h
+++ b/modules/core/include/visp3/core/vpQuaternionVector.h
@@ -140,7 +140,7 @@ class VISP_EXPORT vpQuaternionVector : public vpRotationVector
   vpQuaternionVector operator/(double l) const;
   vpQuaternionVector &operator=(const vpColVector &q);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpQuaternionVector &operator=(const vpQuaternionVector &q) = default;
+  vpQuaternionVector &operator=(const vpQuaternionVector &) = default;
   vpQuaternionVector &operator=(const std::initializer_list<double> &list);
 #endif
 
diff --git a/modules/core/include/visp3/core/vpRectOriented.h b/modules/core/include/visp3/core/vpRectOriented.h
index 241db96d97..dbaf468f3f 100644
--- a/modules/core/include/visp3/core/vpRectOriented.h
+++ b/modules/core/include/visp3/core/vpRectOriented.h
@@ -47,8 +47,8 @@ class VISP_EXPORT vpRectOriented
 {
 public:
   vpRectOriented();
-#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
-  vpRectOriented(const vpRectOriented &rect) = default;
+#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+  vpRectOriented(const vpRectOriented &) = default;
 #else
   vpRectOriented(const vpRectOriented &rect);
 #endif
@@ -57,8 +57,8 @@ class VISP_EXPORT vpRectOriented
 
   vpRectOriented(const vpRect &rect);
 
-#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
-  vpRectOriented &operator=(const vpRectOriented &rect) = default;
+#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+  vpRectOriented &operator=(const vpRectOriented &) = default;
 #else
   vpRectOriented &operator=(const vpRectOriented &rect);
 #endif
diff --git a/modules/core/include/visp3/core/vpRxyzVector.h b/modules/core/include/visp3/core/vpRxyzVector.h
index 2a72c79a65..620c930b25 100644
--- a/modules/core/include/visp3/core/vpRxyzVector.h
+++ b/modules/core/include/visp3/core/vpRxyzVector.h
@@ -200,7 +200,7 @@ class VISP_EXPORT vpRxyzVector : public vpRotationVector
   vpRxyzVector &operator=(const vpColVector &rxyz);
   vpRxyzVector &operator=(double x);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
+  vpRxyzVector &operator=(const vpRxyzVector &) = default;
   vpRxyzVector &operator=(const std::initializer_list<double> &list);
 #endif
 };
diff --git a/modules/core/include/visp3/core/vpRzyxVector.h b/modules/core/include/visp3/core/vpRzyxVector.h
index 0e7156e8ee..bca3794b16 100644
--- a/modules/core/include/visp3/core/vpRzyxVector.h
+++ b/modules/core/include/visp3/core/vpRzyxVector.h
@@ -201,7 +201,7 @@ class VISP_EXPORT vpRzyxVector : public vpRotationVector
   vpRzyxVector &operator=(const vpColVector &rzyx);
   vpRzyxVector &operator=(double x);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpRzyxVector &operator=(const vpRzyxVector &rzyx) = default;
+  vpRzyxVector &operator=(const vpRzyxVector &) = default;
   vpRzyxVector &operator=(const std::initializer_list<double> &list);
 #endif
 };
diff --git a/modules/core/include/visp3/core/vpRzyzVector.h b/modules/core/include/visp3/core/vpRzyzVector.h
index b7d86a2715..182784cf11 100644
--- a/modules/core/include/visp3/core/vpRzyzVector.h
+++ b/modules/core/include/visp3/core/vpRzyzVector.h
@@ -200,7 +200,7 @@ class VISP_EXPORT vpRzyzVector : public vpRotationVector
   vpRzyzVector &operator=(const vpColVector &rzyz);
   vpRzyzVector &operator=(double x);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpRzyzVector &operator=(const vpRzyzVector &rzyz) = default;
+  vpRzyzVector &operator=(const vpRzyzVector &) = default;
   vpRzyzVector &operator=(const std::initializer_list<double> &list);
 #endif
 };
diff --git a/modules/core/src/tools/geometry/vpRectOriented.cpp b/modules/core/src/tools/geometry/vpRectOriented.cpp
index b64d5a615f..fae09c79e4 100644
--- a/modules/core/src/tools/geometry/vpRectOriented.cpp
+++ b/modules/core/src/tools/geometry/vpRectOriented.cpp
@@ -82,13 +82,13 @@ vpRectOriented::vpRectOriented(const vpRect &rect)
   m_topRight.set_j(m_center.get_j() + m_width / 2.0);
 }
 
-#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+#if (VISP_CXX_STANDARD == VISP_CXX_STANDARD_98)
 /** Copy constructor.
  * @param rectOriented Oriented rectangle to copy.
  */
 vpRectOriented::vpRectOriented(const vpRectOriented &rectOriented) { *this = rectOriented; }
 
-/** Assignement operator.
+/** Assignment operator.
  * @param rectOriented Oriented rectangle to copy.
  */
 vpRectOriented &vpRectOriented::operator=(const vpRectOriented &rectOriented)
diff --git a/modules/core/test/math/testQuaternion.cpp b/modules/core/test/math/testQuaternion.cpp
index b08e1dc4ba..0993377aae 100644
--- a/modules/core/test/math/testQuaternion.cpp
+++ b/modules/core/test/math/testQuaternion.cpp
@@ -169,14 +169,14 @@ TEST_CASE("Quaternion operators", "[quaternion]")
     vpQuaternionVector q_copy1 = vpQuaternionVector(0, 0, 1, 1);
     std::cout << "q_copy1=" << q_copy1 << std::endl;
     const vpQuaternionVector q_copy2 = q_copy1;
-    CHECK_FALSE((q_copy2.x() != q_copy1.x() || q_copy2.y() != q_copy1.y() ||
-                 q_copy2.z() != q_copy1.z() || q_copy2.w() != q_copy1.w()));
+    CHECK_FALSE((!vpMath::equal(q_copy2.x(), q_copy1.x()) || !vpMath::equal(q_copy2.y(), q_copy1.y()) ||
+                 !vpMath::equal(q_copy2.z(), q_copy1.z()) || !vpMath::equal(q_copy2.w(), q_copy1.w())));
 
-     // compare data pointers: verify that they're not the same
+    // compare data pointers: verify that they're not the same
     CHECK(q_copy2.data != q_copy1.data);
     q_copy1.set(1, 0, 1, 10);
-    CHECK_FALSE((q_copy2.x() == q_copy1.x() && q_copy2.y() == q_copy1.y() &&
-                 q_copy2.z() == q_copy1.z() && q_copy2.w() == q_copy1.w()));
+    CHECK((vpMath::equal(q_copy2.x(), q_copy1.x()) || vpMath::equal(q_copy2.y(), q_copy1.y()) ||
+           vpMath::equal(q_copy2.z(), q_copy1.z()) || vpMath::equal(q_copy2.w(), q_copy1.w())));
     std::cout << "q_copy1 after set = " << q_copy1 << std::endl;
     std::cout << "q_copy2=" << q_copy2 << std::endl;
   }
@@ -186,15 +186,15 @@ TEST_CASE("Quaternion operators", "[quaternion]")
     const vpQuaternionVector q1 = vpQuaternionVector(0, 0, 1, 1);
     vpQuaternionVector q_same(10, 10, 10, 10);
     q_same = q1;
-    CHECK_FALSE((q_same.x() != q1.x() || q_same.y() != q1.y() ||
-                 q_same.z() != q1.z() || q_same.w() != q1.w()));
+
+    CHECK_FALSE((!vpMath::equal(q_same.x(), q1.x()) || !vpMath::equal(q_same.y(), q1.y()) ||
+                 !vpMath::equal(q_same.z(), q1.z()) || !vpMath::equal(q_same.w(), q1.w())));
     // compare data pointers: verify that they're not the same
     CHECK(q_same.data != q1.data);
   }
 
 }
 
-
 int main(int argc, char *argv[])
 {
   Catch::Session session; // There must be exactly one instance
diff --git a/modules/python/generator/visp_python_bindgen/methods.py b/modules/python/generator/visp_python_bindgen/methods.py
index 12748c093d..61376860da 100644
--- a/modules/python/generator/visp_python_bindgen/methods.py
+++ b/modules/python/generator/visp_python_bindgen/methods.py
@@ -352,7 +352,7 @@ def make_keep_alive_str(values) -> str:
   # Params that are only outputs: they should be declared in function. Assume that they are default constructible
   param_is_only_output = [not is_input and is_output for is_input, is_output in zip(param_is_input, param_is_output)]
   param_type_decl = [get_type_for_declaration(method.parameters[i].type, specs, header_env.mapping) for i in range(len(param_is_only_output))]
-  param_decl_data = [(param_type_decl[i], param_names[i], get_default_assignement_str(param_type_decl[i])) for i in range(len(param_is_only_output)) if param_is_only_output[i]]
+  param_decl_data = [(param_type_decl[i], param_names[i], get_default_assignment_str(param_type_decl[i])) for i in range(len(param_is_only_output)) if param_is_only_output[i]]
   param_declarations = [f'{decl_type} {name}{assignment};' for (decl_type, name, assignment) in param_decl_data]
   param_declarations = '\n'.join(param_declarations)
 
diff --git a/modules/python/generator/visp_python_bindgen/utils.py b/modules/python/generator/visp_python_bindgen/utils.py
index b12ec4ce95..1eeeb9140c 100644
--- a/modules/python/generator/visp_python_bindgen/utils.py
+++ b/modules/python/generator/visp_python_bindgen/utils.py
@@ -259,7 +259,7 @@ def get_type_for_declaration(param: Union[types.FunctionType, types.DecoratedTyp
   else:
     return get_type(param, owner_specs, header_env_mapping)
 
-def get_default_assignement_str(type: str) -> str:
+def get_default_assignment_str(type: str) -> str:
   inits = [
     (['int', 'unsigned', 'uint8_t', 'uint16_t', 'size_t', 'ssize_t'], '0'),
     (['float'], '0.f'),
diff --git a/modules/sensor/include/visp3/sensor/vpLaserScan.h b/modules/sensor/include/visp3/sensor/vpLaserScan.h
index 7c98fcd5ce..bd63f47772 100644
--- a/modules/sensor/include/visp3/sensor/vpLaserScan.h
+++ b/modules/sensor/include/visp3/sensor/vpLaserScan.h
@@ -90,7 +90,7 @@ class /*VISP_EXPORT*/ vpLaserScan
   inline std::vector<vpScanPoint> getScanPoints() { return listScanPoints; }
 
 #if VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11
-  vpLaserScan &operator=(const vpLaserScan &scan) = default;
+  vpLaserScan &operator=(const vpLaserScan &) = default;
 #endif
 
   /*! Specifies the id of former measurements and increases with every measurement. */
diff --git a/modules/tracker/mbt/src/vpMbtPolygon.cpp b/modules/tracker/mbt/src/vpMbtPolygon.cpp
index 5f9a2998c1..3950b3760c 100644
--- a/modules/tracker/mbt/src/vpMbtPolygon.cpp
+++ b/modules/tracker/mbt/src/vpMbtPolygon.cpp
@@ -61,8 +61,7 @@ vpMbtPolygon::vpMbtPolygon(const vpMbtPolygon &mbtp)
   minLineLengthThresh(mbtp.minLineLengthThresh), minPolygonAreaThresh(mbtp.minPolygonAreaThresh), name(mbtp.name),
   hasOrientation(mbtp.hasOrientation)
 {
-  //*this = mbtp; // Should not be called by copy constructor to avoid multiple
-  // assignements.
+  //*this = mbtp; // Should not be called by copy constructor to avoid multiple assignments.
 }
 
 vpMbtPolygon &vpMbtPolygon::operator=(const vpMbtPolygon &mbtp)