diff --git a/src/rs_t265_vio.cpp b/src/rs_t265_vio.cpp
index e707443..3fa7f8c 100644
--- a/src/rs_t265_vio.cpp
+++ b/src/rs_t265_vio.cpp
@@ -246,7 +246,7 @@ int main(int argc, char** argv) {
                   << " opt_flow_ptr->output_queue "
                   << opt_flow_ptr->output_queue->size() << " out_state_queue "
                   << out_state_queue.size() << std::endl;
-        sleep(1);
+        std::this_thread::sleep_for(std::chrono::seconds(1));
       }
     }));
   }
diff --git a/src/vio.cpp b/src/vio.cpp
index e72daa9..d494ec7 100644
--- a/src/vio.cpp
+++ b/src/vio.cpp
@@ -347,7 +347,7 @@ int main(int argc, char** argv) {
                   << " opt_flow_ptr->output_queue "
                   << opt_flow_ptr->output_queue->size() << " out_state_queue "
                   << out_state_queue.size() << std::endl;
-        sleep(1);
+        std::this_thread::sleep_for(std::chrono::seconds(1));
       }
     }));
   }
diff --git a/thirdparty/CLI11 b/thirdparty/CLI11
index 76d2cde..73aa158 160000
--- a/thirdparty/CLI11
+++ b/thirdparty/CLI11
@@ -1 +1 @@
-Subproject commit 76d2cde6568c9c8870b728aa9bc64b70b29127fd
+Subproject commit 73aa158d38a35e9b4d0cfeb6dbf8fd8d73ddfa93
diff --git a/thirdparty/Pangolin b/thirdparty/Pangolin
index ad8b5f8..f3f3103 160000
--- a/thirdparty/Pangolin
+++ b/thirdparty/Pangolin
@@ -1 +1 @@
-Subproject commit ad8b5f83222291c51b4800d5a5873b0e90a0cf81
+Subproject commit f3f31031126820e51f1d07955aebcce2fd866dca
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 7f32ad9..62ad5cb 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 7f32ad9e6a7739c903c7a4a8ea31f483b5410af1
+Subproject commit 62ad5cbac6bc8c906eeb9c8dad2f2581c1576fec