Replace boost with std

CMakeLists.txt

@@ -10,7 +10,7 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 find_package(OpenCV REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
@@ -36,7 +36,6 @@ endif()
 
 ## Specify additional locations of header files
 include_directories(include
-  ${Boost_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
   ${avformat_INCLUDE_DIRS}
   ${avutil_INCLUDE_DIRS}
@@ -68,7 +67,8 @@ target_link_libraries(${PROJECT_NAME}
   cv_bridge::cv_bridge
   image_transport::image_transport
   rclcpp::rclcpp
-  ${Boost_LIBRARIES}
+  Boost::boost
+  Boost::system
   ${OpenCV_LIBS}
   ${avcodec_LIBRARIES}
   ${avformat_LIBRARIES}

include/web_video_server/h264_streamer.hpp

@@ -29,6 +29,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -57,7 +58,7 @@ class H264StreamerType : public LibavStreamerType
 {
 public:
   H264StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/image_streamer.hpp

@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include <opencv2/opencv.hpp>
@@ -106,7 +107,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 
   rclcpp::Time last_frame;
   cv::Mat output_size_image;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
 
 private:
   image_transport::ImageTransport it_;
@@ -118,7 +119,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 class ImageStreamerType
 {
 public:
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  virtual std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node) = 0;

include/web_video_server/jpeg_streamers.hpp

@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -61,7 +62,7 @@ class MjpegStreamer : public ImageTransportImageStreamer
 class MjpegStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/libav_streamer.hpp

@@ -42,6 +42,7 @@ extern "C"
 #include <libavutil/imgutils.h>
 }
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -78,7 +79,7 @@ class LibavStreamer : public ImageTransportImageStreamer
   AVFrame * frame_;
   struct SwsContext * sws_context_;
   rclcpp::Time first_image_timestamp_;
-  boost::mutex encode_mutex_;
+  std::mutex encode_mutex_;
 
   std::string format_name_;
   std::string codec_name_;
@@ -98,7 +99,7 @@ class LibavStreamerType : public ImageStreamerType
     const std::string & format_name, const std::string & codec_name,
     const std::string & content_type);
 
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/png_streamers.hpp

@@ -29,6 +29,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -61,7 +62,7 @@ class PngStreamer : public ImageTransportImageStreamer
 class PngStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/ros_compressed_streamer.hpp

@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "sensor_msgs/msg/compressed_image.hpp"
@@ -63,14 +64,14 @@ class RosCompressedStreamer : public ImageStreamer
   rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
   rclcpp::Time last_frame;
   sensor_msgs::msg::CompressedImage::ConstSharedPtr last_msg;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
   std::string qos_profile_name_;
 };
 
 class RosCompressedStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/vp8_streamer.hpp

@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -60,7 +61,7 @@ class Vp8StreamerType : public LibavStreamerType
 {
 public:
   Vp8StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/vp9_streamer.hpp

@@ -29,6 +29,8 @@
 
 #pragma once
 
+#include <memory>
+
 #include "image_transport/image_transport.hpp"
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
@@ -54,7 +56,7 @@ class Vp9StreamerType : public LibavStreamerType
 {
 public:
   Vp9StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);

include/web_video_server/web_video_server.hpp

@@ -31,6 +31,7 @@
 #pragma once
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -114,12 +115,12 @@ class WebVideoServer
   bool verbose_;
   std::string default_stream_type_;
 
-  boost::shared_ptr<async_web_server_cpp::HttpServer> server_;
+  std::shared_ptr<async_web_server_cpp::HttpServer> server_;
   async_web_server_cpp::HttpRequestHandlerGroup handler_group_;
 
-  std::vector<boost::shared_ptr<ImageStreamer>> image_subscribers_;
-  std::map<std::string, boost::shared_ptr<ImageStreamerType>> stream_types_;
-  boost::mutex subscriber_mutex_;
+  std::vector<std::shared_ptr<ImageStreamer>> image_subscribers_;
+  std::map<std::string, std::shared_ptr<ImageStreamerType>> stream_types_;
+  std::mutex subscriber_mutex_;
 };
 
 }  // namespace web_video_server

src/h264_streamer.cpp

@@ -69,12 +69,12 @@ H264StreamerType::H264StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));
+  return std::make_shared<H264Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server

src/image_streamer.cpp

@@ -117,7 +117,7 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   }
   try {
     if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
-      boost::mutex::scoped_lock lock(send_mutex_);
+      std::scoped_lock lock(send_mutex_);
       // don't update last_frame, it may remain an old value.
       sendImage(output_size_image, node_->now());
     }
@@ -184,7 +184,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
       cv::flip(img, img, true);
     }
 
-    boost::mutex::scoped_lock lock(send_mutex_);  // protects output_size_image
+    std::scoped_lock lock(send_mutex_);  // protects output_size_image
     if (output_width_ != input_width || output_height_ != input_height) {
       cv::Mat img_resized;
       cv::Size new_size(output_width_, output_height_);

src/jpeg_streamers.cpp

@@ -47,7 +47,7 @@ MjpegStreamer::MjpegStreamer(
 MjpegStreamer::~MjpegStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -62,12 +62,12 @@ void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/jpeg", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, node));
+  return std::make_shared<MjpegStreamer>(request, connection, node);
 }
 
 std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
@@ -91,7 +91,7 @@ JpegSnapshotStreamer::JpegSnapshotStreamer(
 JpegSnapshotStreamer::~JpegSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -115,7 +115,7 @@ void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & t
   .header("Pragma", "no-cache")
   .header("Content-type", "image/jpeg")
   .header("Access-Control-Allow-Origin", "*")
-  .header("Content-Length", boost::lexical_cast<std::string>(encoded_buffer.size()))
+  .header("Content-Length", std::to_string(encoded_buffer.size()))
   .write(connection_);
   connection_->write_and_clear(encoded_buffer);
   inactive_ = true;

src/libav_streamer.cpp

@@ -217,7 +217,7 @@ void LibavStreamer::initializeEncoder()
 
 void LibavStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
 {
-  boost::mutex::scoped_lock lock(encode_mutex_);
+  std::scoped_lock lock(encode_mutex_);
   if (0 == first_image_timestamp_.nanoseconds()) {
     first_image_timestamp_ = time;
   }
@@ -303,13 +303,14 @@ LibavStreamerType::LibavStreamerType(
 {
 }
 
-boost::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(
-    new LibavStreamer(request, connection, node, format_name_, codec_name_, content_type_));
+  return std::make_shared<LibavStreamer>(
+    request, connection, node, format_name_, codec_name_,
+    content_type_);
 }
 
 std::string LibavStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)

src/multipart_stream.cpp

@@ -69,8 +69,7 @@ void MultipartStream::sendPartHeader(
   headers->push_back(async_web_server_cpp::HttpHeader("X-Timestamp", stamp));
   headers->push_back(
     async_web_server_cpp::HttpHeader(
-      "Content-Length",
-      boost::lexical_cast<std::string>(payload_size)));
+      "Content-Length", std::to_string(payload_size)));
   connection_->write(async_web_server_cpp::HttpReply::to_buffers(*headers), headers);
 }
 

src/png_streamers.cpp

@@ -52,7 +52,7 @@ PngStreamer::PngStreamer(
 PngStreamer::~PngStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -78,12 +78,12 @@ void PngStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/png", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new PngStreamer(request, connection, node));
+  return std::make_shared<PngStreamer>(request, connection, node);
 }
 
 std::string PngStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
@@ -107,7 +107,7 @@ PngSnapshotStreamer::PngSnapshotStreamer(
 PngSnapshotStreamer::~PngSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngSnapshotStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -142,7 +142,7 @@ void PngSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & ti
   .header("Pragma", "no-cache")
   .header("Content-type", "image/png")
   .header("Access-Control-Allow-Origin", "*")
-  .header("Content-Length", boost::lexical_cast<std::string>(encoded_buffer.size()))
+  .header("Content-Length", std::to_string(encoded_buffer.size()))
   .write(connection_);
   connection_->write_and_clear(encoded_buffer);
   inactive_ = true;