From 67c9032239093de93624ac60ae0ebebfdc1d76b4 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Wed, 21 Aug 2024 00:46:14 +0900
Subject: [PATCH] fix: update initialization of `rerun::DepthImage` and
 `rerun::Image`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../src/image/compressed_image_display.cpp         |  9 ++++-----
 awviz_plugin/src/image/image_display.cpp           | 14 +++++---------
 2 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/awviz_plugin/src/image/compressed_image_display.cpp b/awviz_plugin/src/image/compressed_image_display.cpp
index 1508eee..0fb2f6a 100644
--- 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
index 2ff89fa..41c5af9 100644
--- 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