diff --git a/robot/sample-vpRobotCamera.cpp b/robot/sample-vpRobotCamera.cpp
index 38ccdd8..d0da5bc 100644
--- a/robot/sample-vpRobotCamera.cpp
+++ b/robot/sample-vpRobotCamera.cpp
@@ -1,3 +1,6 @@
+#include <visp3/core/vpConfig.h>
+
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
 #include <visp3/robot/vpRobotCamera.h>
 
 #ifdef ENABLE_VISP_NAMESPACE
@@ -28,3 +31,12 @@ int main()
   robot.getPosition(cMw); // Position of the camera wrt the world frame
   std::cout << "New position of the camera cMw:\n" << cMw << std::endl;
 }
+#else
+#include <iostream>
+
+int main()
+{
+  std::cout << "This example requires compiling ViSP with the deprecated functions." << std::endl;
+  return EXIT_SUCCESS;
+}
+#endif
diff --git a/sensor/sample-vpRealSense-4.cpp b/sensor/sample-vpRealSense-4.cpp
index 6b66f1d..15e78ef 100644
--- a/sensor/sample-vpRealSense-4.cpp
+++ b/sensor/sample-vpRealSense-4.cpp
@@ -53,7 +53,7 @@
 
 // Using a thread to display the pointcloud with PCL produces a segfault on OSX
 #if( ! defined(__APPLE__) && ! defined(__MACH__) ) // Not OSX
-#  if (defined(VISP_HAVE_PTHREAD) || defined(_WIN32)) // Threading available
+#  if (defined(VISP_HAVE_PTHREAD) || defined(_WIN32)) && VISP_BUILD_DEPRECATED_FUNCTIONS // vpThread and vpMutex available
 #    define USE_THREAD
 #  endif
 #endif
@@ -63,8 +63,13 @@
 #  include <pcl/visualization/pcl_visualizer.h>
 #endif
 
+#ifdef ENABLE_VISP_NAMESPACE
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
 #ifdef VISP_HAVE_PCL
 #ifdef USE_THREAD
+
 // Shared vars
 typedef enum
 {
@@ -75,11 +80,6 @@ typedef enum
 t_CaptureState s_capture_state = capture_waiting;
 vpMutex s_mutex_capture;
 
-
-#ifdef ENABLE_VISP_NAMESPACE
-using namespace VISP_NAMESPACE_NAME;
-#endif
-
 vpThread::Return displayPointcloudFunction(vpThread::Args args)
 {
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_ = *((pcl::PointCloud<pcl::PointXYZRGB>::Ptr *) args);