Merge pull request #3060 from SergioRAgostinho/thread

Transition from boost::thread to std::thread.

Author: taketwo

common/include/pcl/common/boost.h

@@ -50,7 +50,6 @@
 #include <boost/mpl/size.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/function.hpp>
-#include <boost/thread.hpp>
 #include <boost/signals2.hpp>
 #include <boost/signals2/slot.hpp>
 #include <boost/algorithm/string.hpp>

common/include/pcl/common/time_trigger.h

@@ -43,10 +43,11 @@
 #include <boost/function.hpp>
 #include <boost/thread.hpp>
 #include <boost/signals2.hpp>
+#endif
 
 #include <condition_variable>
 #include <mutex>
-#endif
+#include <thread>
 
 namespace pcl
 {
@@ -101,7 +102,7 @@ namespace pcl
       bool quit_;
       bool running_;
 
-      boost::thread timer_thread_;
+      std::thread timer_thread_;
       std::condition_variable condition_;
       std::mutex condition_mutex_;
   };

common/src/time_trigger.cpp

@@ -49,7 +49,7 @@ pcl::TimeTrigger::TimeTrigger (double interval, const callback_type& callback)
 , condition_ ()
 , condition_mutex_ ()
 {
-  timer_thread_ = boost::thread (boost::bind (&TimeTrigger::thread_function, this));
+  timer_thread_ = std::thread (&TimeTrigger::thread_function, this);
   registerCallback (callback);
 }
 
@@ -63,7 +63,7 @@ pcl::TimeTrigger::TimeTrigger (double interval)
 , condition_ ()
 , condition_mutex_ ()
 {
-  timer_thread_ = boost::thread (boost::bind (&TimeTrigger::thread_function, this));
+  timer_thread_ = std::thread (&TimeTrigger::thread_function, this);
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

gpu/kinfu_large_scale/tools/record_maps_rgb.cpp

@@ -323,11 +323,11 @@ main (int argc, char** argv)
   buff.setCapacity (buff_size);
   std::cout << "Starting the producer and consumer threads..." << std::endl;
   std::cout << "Press Ctrl-C to end" << std::endl;
-  boost::thread producer (grabAndSend);
+  std::thread producer (grabAndSend);
   std::this_thread::sleep_for(2s);
-  boost::thread consumer (receiveAndProcess);
-  boost::thread consumer2 (receiveAndProcess);
-  boost::thread consumer3 (receiveAndProcess);
+  std::thread consumer (receiveAndProcess);
+  std::thread consumer2 (receiveAndProcess);
+  std::thread consumer3 (receiveAndProcess);
   signal (SIGINT, ctrlC);
   producer.join ();
   {

io/include/pcl/io/boost.h

@@ -47,7 +47,6 @@
 #include <boost/numeric/conversion/cast.hpp>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/condition.hpp>
-#include <boost/thread.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/bind.hpp>
 #include <boost/cstdint.hpp>

io/include/pcl/io/davidsdk_grabber.h

@@ -47,6 +47,8 @@
 
 #include <david.h>
 
+#include <thread>
+
 namespace pcl
 {
   struct PointXYZ;
@@ -217,7 +219,7 @@ namespace pcl
 
     protected:
       /** @brief Grabber thread */
-      boost::thread grabber_thread_;
+      std::thread grabber_thread_;
 
       /** @brief Boost point cloud signal */
       boost::signals2::signal<sig_cb_davidsdk_point_cloud>* point_cloud_signal_;

io/include/pcl/io/depth_sense/depth_sense_device_manager.h

@@ -45,6 +45,8 @@
 
 #include <DepthSense.hxx>
 
+#include <thread>
+
 namespace pcl
 {
 
@@ -136,7 +138,7 @@ namespace pcl
           static boost::mutex mutex_;
 
           /// Thread where the grabbing takes place.
-          boost::thread depth_sense_thread_;
+          std::thread depth_sense_thread_;
 
           struct CapturedDevice
           {

io/include/pcl/io/dinast_grabber.h

@@ -47,6 +47,8 @@
 #include <libusb-1.0/libusb.h>
 #include <boost/circular_buffer.hpp>
 
+#include <thread>
+
 namespace pcl
 {
   /** \brief Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001)
@@ -206,7 +208,7 @@ namespace pcl
 
       bool running_;
 
-      boost::thread capture_thread_;
+      std::thread capture_thread_;
 
       mutable boost::mutex capture_mutex_;
       boost::signals2::signal<sig_cb_dinast_point_cloud>* point_cloud_signal_;

io/include/pcl/io/ensenso_grabber.h

@@ -52,6 +52,8 @@
 
 #include <nxLib.h> // Ensenso SDK
 
+#include <thread>
+
 namespace pcl
 {
   struct PointXYZ;
@@ -434,7 +436,7 @@ namespace pcl
 
     protected:
       /** @brief Grabber thread */
-      boost::thread grabber_thread_;
+      std::thread grabber_thread_;
 
       /** @brief Boost point cloud signal */
       boost::signals2::signal<sig_cb_ensenso_point_cloud>* point_cloud_signal_;

io/include/pcl/io/hdl_grabber.h

@@ -46,6 +46,7 @@
 #include <pcl/point_cloud.h>
 #include <boost/asio.hpp>
 #include <string>
+#include <thread>
 
 #define HDL_Grabber_toRadians(x) ((x) * M_PI / 180.0)
 
@@ -293,8 +294,8 @@ namespace pcl
       boost::asio::io_service hdl_read_socket_service_;
       boost::asio::ip::udp::socket *hdl_read_socket_;
       std::string pcap_file_name_;
-      boost::thread *queue_consumer_thread_;
-      boost::thread *hdl_read_packet_thread_;
+      std::thread *queue_consumer_thread_;
+      std::thread *hdl_read_packet_thread_;
       bool terminate_read_packet_thread_;
       pcl::RGB laser_rgb_mapping_[HDL_MAX_NUM_LASERS];
       float min_distance_threshold_;