chore: bump rerun API compatibiliy to 0.18.2

Author: tfoldi

rerun_bridge/CMakeLists.txt

@@ -22,7 +22,7 @@ find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 include(FetchContent)
-FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.16.0/rerun_cpp_sdk.zip)
+FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.18.2/rerun_cpp_sdk.zip)
 FetchContent_MakeAvailable(rerun_sdk)
 
 # setup targets (has to be done before ament_package call)

rerun_bridge/src/rerun_bridge/collection_adapters.hpp

@@ -22,9 +22,20 @@ struct rerun::CollectionAdapter<TElement, cv::Mat> {
     }
 };
 
-inline rerun::Collection<rerun::TensorDimension> tensor_shape(const cv::Mat& img) {
-    return {
-        static_cast<size_t>(img.rows),
+inline rerun::WidthHeight width_height(const cv::Mat& img) {
+    return rerun::WidthHeight(
         static_cast<size_t>(img.cols),
-        static_cast<size_t>(img.channels())};
+        static_cast<size_t>(img.rows)
+    );
 };
+
+template<typename T>
+rerun::Collection<T> img_data_as_collection(const cv::Mat& img) {
+    const T* img_data = reinterpret_cast<const T*>(img.data);
+
+    size_t img_size = img.total() * img.channels();
+
+    std::vector<T> img_vec(img_data, img_data + img_size);
+
+    return rerun::Collection<T>::take_ownership(std::move(img_vec));
+}

rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp

@@ -117,8 +117,8 @@ void log_image(
         rec.log(
             entity_path,
             rerun::DepthImage(
-                {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
-                rerun::TensorBuffer::u16(img)
+                img_data_as_collection<uint16_t>(img),
+                {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)}
             )
                 .with_meter(1000)
         );
@@ -133,14 +133,14 @@ void log_image(
         rec.log(
             entity_path,
             rerun::DepthImage(
-                {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
-                rerun::TensorBuffer::f32(img)
+                img_data_as_collection<float>(img),
+                {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)}
             )
                 .with_meter(1.0)
         );
     } else {
         cv::Mat img = cv_bridge::toCvCopy(msg, "rgb8")->image;
-        rec.log(entity_path, rerun::Image(tensor_shape(img), rerun::TensorBuffer::u8(img)));
+        rec.log(entity_path, rerun::Image::from_rgb24(img_data_as_collection<uint8_t>(img), width_height(img)));
     }
 }
 
@@ -156,7 +156,7 @@ void log_pose_stamped(
     rec.log(
         entity_path,
         rerun::Transform3D(
-            rerun::Vector3D(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z),
+            rerun::components::Translation3D(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z),
             rerun::Quaternion::from_wxyz(
                 msg->pose.orientation.w,
                 msg->pose.orientation.x,
@@ -200,7 +200,7 @@ void log_tf_message(
         rec.log(
             tf_frame_to_entity_path.at(transform.child_frame_id),
             rerun::Transform3D(
-                rerun::Vector3D(
+                rerun::components::Translation3D(
                     transform.transform.translation.x,
                     transform.transform.translation.y,
                     transform.transform.translation.z
@@ -228,7 +228,7 @@ void log_odometry(
     rec.log(
         entity_path,
         rerun::Transform3D(
-            rerun::Vector3D(
+            rerun::components::Translation3D(
                 msg->pose.pose.position.x,
                 msg->pose.pose.position.y,
                 msg->pose.pose.position.z
@@ -278,7 +278,7 @@ void log_transform(
     rec.log(
         entity_path,
         rerun::Transform3D(
-            rerun::Vector3D(
+            rerun::components::Translation3D(
                 msg->transform.translation.x,
                 msg->transform.translation.y,
                 msg->transform.translation.z