Remove last usage of date_time and replace it with std::chrono (PointCloudLibrary#5596)

* Remove last usage of date_time and replace it with std::chrono

* Added new header with getTimestamp method.

Added unit test to ensure it returns as expected, like boost format.

Changed tools to use the new function.

* Fix us printout.

* Use frametime and not current time.

* Minor doc correction.

* Renaming.

* Remove posix_time in additional files.

Add parsing of string to time_point.

Return timestamp in local timezone instead of UTC.

rename from timestamp_generator to timestamp, since it can also parse now.

* Add duration parse to microseconds, to get correct difference.

* Doxygen

Faster find using a char instead of string, per clang-tidy.

* Remove last occurrences of date-time and only call pcl::getTimestamp once in openni_save_image.cpp.

* Fix if check for position of dot in iso timestamp string.

* Address reviews:�getTime returns time in seconds, don't multiply with 1000 in kinfu.

Lowercase timestamp test in test/io/CMakeLists.txt
Call getTimestamp once in openni_image.

Author: larshg

.dev/docker/env/Dockerfile

@@ -30,7 +30,7 @@ RUN apt-get update \
       clang-tidy \
       libbenchmark-dev \
       libblas-dev \
-      libboost-date-time-dev \
+      libboost-serialization-dev \
       libboost-filesystem-dev \
       libboost-iostreams-dev \
       libflann-dev \

.dev/docker/release/Dockerfile

@@ -15,7 +15,7 @@ RUN sed -i 's/^deb \(.*\)$/deb \1\ndeb-src \1/' /etc/apt/sources.list \
     dpkg-dev \
     git \
     g++ \
-    libboost-date-time-dev \
+    libboost-serialization-dev \
     libboost-filesystem-dev \
     libboost-iostreams-dev \
     libeigen3-dev \

.dev/docker/ubuntu-variety/Dockerfile

@@ -15,7 +15,7 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt update
 RUN apt install -y git cmake ${COMPILER_PACKAGE}
 RUN apt install -y libeigen3-dev libflann-dev
-RUN apt install -y libboost-filesystem-dev libboost-date-time-dev libboost-iostreams-dev
+RUN apt install -y libboost-filesystem-dev libboost-serialization-dev libboost-iostreams-dev
 RUN apt install -y libgtest-dev libbenchmark-dev
 RUN apt install -y qtbase5-dev libvtk${VTK_VERSION}-dev libvtk${VTK_VERSION}-qt-dev
 

apps/src/openni_grab_frame.cpp

@@ -40,6 +40,7 @@
 #include <pcl/console/print.h>
 #include <pcl/io/openni_grabber.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/io/timestamp.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -157,8 +158,7 @@ class OpenNIGrabFrame {
   saveCloud()
   {
     FPS_CALC("I/O");
-    const std::string time = boost::posix_time::to_iso_string(
-        boost::posix_time::microsec_clock::local_time());
+    const std::string time = pcl::getTimestamp();
     const std::string filepath = dir_name_ + '/' + file_name_ + '_' + time + ".pcd";
 
     if (format_ & 1) {

apps/src/openni_grab_images.cpp

@@ -117,8 +117,7 @@ class OpenNIGrabFrame {
   void
   saveImages()
   {
-    std::string time = boost::posix_time::to_iso_string(
-        boost::posix_time::microsec_clock::local_time());
+    const std::string time = pcl::getTimestamp();
     openni_wrapper::Image::Ptr image;
     openni_wrapper::DepthImage::Ptr depth_image;
 
@@ -204,8 +203,7 @@ class OpenNIGrabFrame {
 
     // wait until user quits program with Ctrl-C, but no busy-waiting -> sleep (1);
     while (!image_viewer_.wasStopped() && !quit_) {
-      std::string time = boost::posix_time::to_iso_string(
-          boost::posix_time::microsec_clock::local_time());
+      const std::string time = pcl::getTimestamp();
       openni_wrapper::Image::Ptr image;
       openni_wrapper::DepthImage::Ptr depth_image;
 

apps/src/openni_klt.cpp

@@ -39,12 +39,11 @@
 #include <pcl/console/print.h>
 #include <pcl/io/openni_grabber.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/io/timestamp.h>
 #include <pcl/keypoints/harris_2d.h>
 #include <pcl/tracking/pyramidal_klt.h>
 #include <pcl/visualization/image_viewer.h>
 
-#include <boost/date_time/posix_time/posix_time.hpp> // for to_iso_string, local_time
-
 #include <mutex>
 
 #define SHOW_FPS 1
@@ -175,9 +174,7 @@ class OpenNIViewer {
       if ((event.getKeyCode() == 's') || (event.getKeyCode() == 'S')) {
         std::lock_guard<std::mutex> lock(cloud_mutex_);
         frame.str("frame-");
-        frame << boost::posix_time::to_iso_string(
-                     boost::posix_time::microsec_clock::local_time())
-              << ".pcd";
+        frame << pcl::getTimestamp() << ".pcd";
         writer.writeBinaryCompressed(frame.str(), *cloud_);
         PCL_INFO("Written cloud %s.\n", frame.str().c_str());
       }

cmake/pcl_find_boost.cmake

@@ -26,7 +26,7 @@ if(Boost_SERIALIZATION_FOUND)
 endif()
 
 # Required boost modules
-set(BOOST_REQUIRED_MODULES filesystem date_time iostreams system)
+set(BOOST_REQUIRED_MODULES filesystem iostreams system)
 find_package(Boost 1.65.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})
 
 if(Boost_FOUND)

cmake/pcl_pclconfig.cmake

@@ -78,7 +78,7 @@ foreach(_ss ${PCL_SUBSYSTEMS_MODULES})
 endforeach()
 
 #Boost modules
-set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system filesystem date_time iostreams")
+set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system filesystem iostreams")
 if(Boost_SERIALIZATION_FOUND)
   string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " serialization")
 endif()

common/include/pcl/common/boost.h

@@ -47,7 +47,6 @@ PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly."
 // Marking all Boost headers as system headers to remove warnings
 #include <boost/fusion/sequence/intrinsic/at_key.hpp>
 #include <boost/mpl/size.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/signals2.hpp>
 #include <boost/signals2/slot.hpp>
 #include <boost/algorithm/string.hpp>

doc/tutorials/content/building_pcl.rst

@@ -198,31 +198,31 @@ then a sample value is given for reference.
 
 * Boost
 
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+ 
-| cache variable                   | meaning                                                       | sample value                             |
-+==================================+===============================================================+==========================================+
-| Boost_DATE_TIME_LIBRARY          | full path to boost_date-time.[so,lib,a]                       | /usr/local/lib/libboost_date_time.so     |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_DATE_TIME_LIBRARY_DEBUG    | full path to boost_date-time.[so,lib,a] (debug version)       | /usr/local/lib/libboost_date_time-gd.so  |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_DATE_TIME_LIBRARY_RELEASE  | full path to boost_date-time.[so,lib,a] (release version)     | /usr/local/lib/libboost_date_time.so     |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_FILESYSTEM_LIBRARY         | full path to boost_filesystem.[so,lib,a]                      | /usr/local/lib/libboost_filesystem.so    |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_FILESYSTEM_LIBRARY_DEBUG   | full path to boost_filesystem.[so,lib,a] (debug version)      | /usr/local/lib/libboost_filesystem-gd.so |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_FILESYSTEM_LIBRARY_RELEASE | full path to boost_filesystem.[so,lib,a] (release version)    | /usr/local/lib/libboost_filesystem.so    |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_INCLUDE_DIR                | path to boost headers directory                               | /usr/local/include                       |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_LIBRARY_DIRS               | path to boost libraries directory                             | /usr/local/lib                           |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_SYSTEM_LIBRARY             | full path to boost_system.[so,lib,a]                          | /usr/local/lib/libboost_system.so        |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_SYSTEM_LIBRARY_DEBUG       | full path to boost_system.[so,lib,a] (debug version)          | /usr/local/lib/libboost_system-gd.so     |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
-| Boost_SYSTEM_LIBRARY_RELEASE     | full path to boost_system.[so,lib,a] (release version)        | /usr/local/lib/libboost_system.so        |
-+----------------------------------+---------------------------------------------------------------+------------------------------------------+
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+ 
+| cache variable                      | meaning                                                       | sample value                                |
++=====================================+===============================================================+=============================================+
+| Boost_SERIALIZATION_LIBRARY         | full path to boost_serialization.[so,lib,a]                   | /usr/local/lib/libboost_serialization.so    |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_SERIALIZATION_LIBRARY_DEBUG   | full path to boost_serialization.[so,lib,a] (debug version)   | /usr/local/lib/libboost_serialization-gd.so |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_SERIALIZATION_LIBRARY_RELEASE | full path to boost_serialization.[so,lib,a] (release version) | /usr/local/lib/libboost_serialization.so    |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_FILESYSTEM_LIBRARY            | full path to boost_filesystem.[so,lib,a]                      | /usr/local/lib/libboost_filesystem.so       |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_FILESYSTEM_LIBRARY_DEBUG      | full path to boost_filesystem.[so,lib,a] (debug version)      | /usr/local/lib/libboost_filesystem-gd.so    |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_FILESYSTEM_LIBRARY_RELEASE    | full path to boost_filesystem.[so,lib,a] (release version)    | /usr/local/lib/libboost_filesystem.so       |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_INCLUDE_DIR                   | path to boost headers directory                               | /usr/local/include                          |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_LIBRARY_DIRS                  | path to boost libraries directory                             | /usr/local/lib                              |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_SYSTEM_LIBRARY                | full path to boost_system.[so,lib,a]                          | /usr/local/lib/libboost_system.so           |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_SYSTEM_LIBRARY_DEBUG          | full path to boost_system.[so,lib,a] (debug version)          | /usr/local/lib/libboost_system-gd.so        |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
+| Boost_SYSTEM_LIBRARY_RELEASE        | full path to boost_system.[so,lib,a] (release version)        | /usr/local/lib/libboost_system.so           |
++-------------------------------------+---------------------------------------------------------------+---------------------------------------------+
 
 
 * CMinpack