fix: update initialization of rerun::DepthImage and rerun::Image

Signed-off-by: ktro2828 <[email protected]>
ktro2828 · Aug 20, 2024 · 67c9032 · 67c9032
1 parent 8a9ca6b
commit 67c9032
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Showing 2 changed files with 9 additions and 14 deletions.
diff --git a/awviz_plugin/src/image/compressed_image_display.cpp b/awviz_plugin/src/image/compressed_image_display.cpp
@@ -18,6 +18,7 @@
 
 #include <opencv2/opencv.hpp>
 
+#include <cstdint>
 #include <iostream>
 
 namespace awviz_plugin
@@ -43,17 +44,15 @@ void CompressedImageDisplay::log_message(sensor_msgs::msg::CompressedImage::Cons
     cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
 
     stream_->log(
-      entity_path.value(), rerun::Image(tensor_shape(img), rerun::TensorBuffer::u8(img)));
+      entity_path.value(), rerun::Image::from_rgb24(img, rerun::WidthHeight(img.cols, img.rows)));
   } else {
     auto img = cv::imdecode(cv::Mat(msg->data), cv::IMREAD_COLOR);
     cv::Mat depth;
     img.convertTo(depth, CV_32FC1);
 
     stream_->log(
-      entity_path.value(), rerun::DepthImage(
-                             {static_cast<size_t>(depth.rows), static_cast<size_t>(depth.cols)},
-                             rerun::TensorBuffer::f32(depth))
-                             .with_meter(1.0));
+      entity_path.value(),
+      rerun::DepthImage(depth.data, rerun::WidthHeight(depth.cols, depth.rows)).with_meter(1.0));
   }
 }
 }  // namespace awviz_plugin

diff --git a/awviz_plugin/src/image/image_display.cpp b/awviz_plugin/src/image/image_display.cpp
@@ -40,23 +40,19 @@ void ImageDisplay::log_message(sensor_msgs::msg::Image::ConstSharedPtr msg)
   if (msg->encoding == "16UC1") {
     auto img = cv_bridge::toCvCopy(msg)->image;
     stream_->log(
-      entity_path.value(), rerun::DepthImage(
-                             {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
-                             rerun::TensorBuffer::u16(img))
-                             .with_meter(1000));
+      entity_path.value(),
+      rerun::DepthImage(img.data, rerun::WidthHeight(img.cols, img.rows)).with_meter(1000));
   } else if (msg->encoding == "32FC1") {
     auto img = cv_bridge::toCvCopy(msg)->image;
 
     stream_->log(
-      entity_path.value(), rerun::DepthImage(
-                             {static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
-                             rerun::TensorBuffer::f32(img))
-                             .with_meter(1.0));
+      entity_path.value(),
+      rerun::DepthImage(img.data, rerun::WidthHeight(img.cols, img.rows)).with_meter(1.0));
   } else {
     auto img = cv_bridge::toCvCopy(msg, "rgb8")->image;
 
     stream_->log(
-      entity_path.value(), rerun::Image(tensor_shape(img), rerun::TensorBuffer::u8(img)));
+      entity_path.value(), rerun::Image::from_rgb24(img, rerun::WidthHeight(img.cols, img.rows)));
   }
 }
 }  // namespace awviz_plugin