Migrate from boost::this_thread::sleep to std::this_thread::sleep_for

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h

@@ -52,5 +52,4 @@
 #include <boost/signals2/connection.hpp>
 //#include <boost/signals2/signal.hpp>
 #include <boost/thread/mutex.hpp>
-#include <boost/thread/thread.hpp>
 #include <boost/type_traits/is_same.hpp>

apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp

@@ -33,12 +33,6 @@
  *
  */
 
-#ifndef Q_MOC_RUN
-#pragma once
-#include <boost/thread/thread.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#endif
-
 #include <pcl/apps/dominant_plane_segmentation.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/features/integral_image_normal.h>

apps/include/pcl/apps/manual_registration.h

@@ -36,16 +36,11 @@
 
 #include <ui_manual_registration.h>
 
-// QT4
+// QT
 #include <QMainWindow>
 #include <QMutex>
 #include <QTimer>
 
-// Boost
-#ifndef Q_MOC_RUN
-#include <boost/thread/thread.hpp>
-#endif
-
 // PCL
 #include <pcl/console/print.h>
 #include <pcl/console/parse.h>

apps/include/pcl/apps/organized_segmentation_demo.h

@@ -38,8 +38,6 @@
 
 #include <pcl/apps/organized_segmentation_demo_qt.h>
 
-// Boost
-#include <boost/thread/thread.hpp>
 // PCL
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>

apps/include/pcl/apps/pcd_video_player.h

@@ -45,7 +45,6 @@
 #include <QTimer>
 
 // Boost
-#include <boost/thread/thread.hpp>
 #include <boost/filesystem.hpp>
 
 // PCL

apps/src/dinast_grabber_example.cpp

@@ -35,11 +35,15 @@
  *
  */
 
+#include <thread>
+
 #include <pcl/common/time.h>
 #include <pcl/point_types.h>
 #include <pcl/io/dinast_grabber.h>
 #include <pcl/visualization/cloud_viewer.h>
 
+using namespace std::chrono_literals;
+
 template <typename PointType>
 class DinastProcessor
 {
@@ -79,7 +83,7 @@ class DinastProcessor
 
       while (!viewer.wasStopped())
       {
-        boost::this_thread::sleep (boost::posix_time::seconds (1));
+        std::this_thread::sleep_for(1s);
       }
 
       interface.stop ();

apps/src/ni_agast.cpp

@@ -38,6 +38,9 @@
  */
 
 #define SHOW_FPS 1
+
+#include <thread>
+
 #include <pcl/apps/timer.h>
 #include <pcl/common/common.h>
 #include <pcl/common/angles.h>
@@ -53,6 +56,7 @@
 
 using namespace pcl;
 using namespace std;
+using namespace std::chrono_literals;
 
 typedef PointUV KeyPointT;
 
@@ -311,7 +315,7 @@ class AGASTDemo
 
         cloud_viewer_.spinOnce ();
         image_viewer_.spinOnce ();
-        boost::this_thread::sleep (boost::posix_time::microseconds (100));
+        std::this_thread::sleep_for(100us);
       }
 
       grabber_.stop ();

apps/src/ni_brisk.cpp

@@ -38,6 +38,9 @@
  */
 
 #define SHOW_FPS 1
+
+#include <thread>
+
 #include <pcl/apps/timer.h>
 #include <pcl/common/common.h>
 #include <pcl/common/angles.h>
@@ -53,6 +56,7 @@
 
 using namespace pcl;
 using namespace std;
+using namespace std::chrono_literals;
 
 typedef PointXYZRGBA PointT;
 typedef PointWithScale KeyPointT;
@@ -268,7 +272,7 @@ class BRISKDemo
 
         cloud_viewer_.spinOnce ();
         image_viewer_.spinOnce ();
-        boost::this_thread::sleep (boost::posix_time::microseconds (100));
+        std::this_thread::sleep_for(100us);
       }
 
       grabber_.stop ();

apps/src/ni_linemod.cpp

@@ -37,6 +37,8 @@
  *
  */
 
+#include <thread>
+
 #include <pcl/apps/timer.h>
 #include <pcl/common/common.h>
 #include <pcl/common/angles.h>
@@ -64,6 +66,7 @@
 
 using namespace pcl;
 using namespace std;
+using namespace std::chrono_literals;
 
 typedef PointXYZRGBA PointT;
 
@@ -527,7 +530,7 @@ class NILinemod
         cloud_viewer_.spinOnce ();
 
         image_viewer_.spinOnce ();
-        boost::this_thread::sleep (boost::posix_time::microseconds (100));
+        std::this_thread::sleep_for(100us);
       }
 
       grabber_.stop ();

apps/src/ni_susan.cpp

@@ -38,6 +38,9 @@
  */
 
 #define SHOW_FPS 1
+
+#include <thread>
+
 #include <pcl/apps/timer.h>
 #include <pcl/common/common.h>
 #include <pcl/common/angles.h>
@@ -52,6 +55,7 @@
 
 using namespace pcl;
 using namespace std;
+using namespace std::chrono_literals;
 
 typedef PointXYZRGBA PointT;
 typedef PointXYZRGBL KeyPointT;
@@ -172,7 +176,7 @@ class SUSANDemo
 
         cloud_viewer_.spinOnce ();
         image_viewer_.spinOnce ();
-        boost::this_thread::sleep (boost::posix_time::microseconds (100));
+        std::this_thread::sleep_for(100us);
       }
 
       grabber_.stop ();

apps/src/ni_trajkovic.cpp

@@ -38,6 +38,9 @@
  */
 
 #define SHOW_FPS 1
+
+#include <thread>
+
 #include <pcl/apps/timer.h>
 #include <pcl/common/common.h>
 #include <pcl/io/openni_grabber.h>
@@ -48,6 +51,7 @@
 #include <pcl/console/print.h>
 #include <pcl/console/parse.h>
 
+using namespace std::chrono_literals;
 using namespace pcl;
 typedef PointXYZRGBA PointT;
 typedef PointXYZI KeyPointT;
@@ -192,7 +196,7 @@ class TrajkovicDemo
 
         cloud_viewer_.spinOnce ();
         image_viewer_.spinOnce ();
-        boost::this_thread::sleep (boost::posix_time::microseconds (100));
+        std::this_thread::sleep_for(100us);
       }
 
       grabber_.stop ();

apps/src/openni_3d_concave_hull.cpp

@@ -33,6 +33,8 @@
  *	
  */
 
+#include <thread>
+
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/io/openni_grabber.h>
@@ -47,6 +49,7 @@
 using namespace pcl;
 using namespace pcl::visualization;
 using namespace std;
+using namespace std::chrono_literals;
 
 #define FPS_CALC(_WHAT_) \
 do \
@@ -106,7 +109,7 @@ class OpenNI3DConcaveHull
     {
       if (!cloud_ || !new_cloud_)
       {
-        boost::this_thread::sleep (boost::posix_time::milliseconds (1));
+        std::this_thread::sleep_for(1ms);
         return;
       }
 
@@ -145,7 +148,7 @@ class OpenNI3DConcaveHull
 
       while (!viewer.wasStopped ())
       {
-        boost::this_thread::sleep(boost::posix_time::milliseconds(1));
+        std::this_thread::sleep_for(1ms);
       }
 
       interface->stop ();

apps/src/openni_3d_convex_hull.cpp

@@ -33,6 +33,8 @@
  *	
  */
 
+#include <thread>
+
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/io/openni_grabber.h>
@@ -44,9 +46,10 @@
 #include <pcl/common/time.h>
 #include <pcl/visualization/cloud_viewer.h>
 
+using namespace std;
+using namespace std::chrono_literals;
 using namespace pcl;
 using namespace pcl::visualization;
-using namespace std;
 
 #define FPS_CALC(_WHAT_) \
 do \
@@ -104,7 +107,7 @@ class OpenNI3DConvexHull
     {
       if (!cloud_ || !new_cloud_)
       {
-        boost::this_thread::sleep(boost::posix_time::milliseconds(1));
+        std::this_thread::sleep_for(1ms);
         return;
       }
 
@@ -143,7 +146,7 @@ class OpenNI3DConvexHull
 
       while (!viewer.wasStopped ())
       {
-        boost::this_thread::sleep(boost::posix_time::milliseconds(1));
+        std::this_thread::sleep_for(1ms);
       }
 
       interface->stop ();

apps/src/openni_boundary_estimation.cpp

@@ -32,9 +32,11 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- *	
+ *
  */
 
+#include <thread>
+
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/io/openni_grabber.h>
@@ -47,6 +49,8 @@
 #include <pcl/common/time.h>
 #include <pcl/visualization/cloud_viewer.h>
 
+using namespace std::chrono_literals;
+
 typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2> ColorHandler;
 typedef ColorHandler::Ptr ColorHandlerPtr;
 typedef ColorHandler::ConstPtr ColorHandlerConstPtr;
@@ -123,7 +127,7 @@ class OpenNIIntegralImageNormalEstimation
       boost::mutex::scoped_lock lock (mtx_);
       if (!cloud_)
       {
-        boost::this_thread::sleep(boost::posix_time::seconds(1));
+        std::this_thread::sleep_for(1s);
         return;
       }
 
@@ -163,7 +167,7 @@ class OpenNIIntegralImageNormalEstimation
 
       while (!viewer.wasStopped ())
       {
-        boost::this_thread::sleep(boost::posix_time::seconds(1));
+        std::this_thread::sleep_for(1s);
       }
 
       interface->stop ();

apps/src/openni_change_viewer.cpp

@@ -34,6 +34,8 @@
  * Author: Nico Blodow (blodow@cs.tum.edu), Julius Kammerl (julius@kammerl.de)
  */
 
+#include <thread>
+
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/io/openni_grabber.h>
@@ -44,6 +46,8 @@
 
 #include <pcl/console/parse.h>
 
+using namespace std::chrono_literals;
+
 enum 
 {
   REDDIFF_MODE,
@@ -128,7 +132,7 @@ class OpenNIChangeViewer
 
       while (!viewer.wasStopped())
       {
-        boost::this_thread::sleep(boost::posix_time::seconds(1));
+        std::this_thread::sleep_for(1s);
       }
 
       interface->stop ();