I think the jury is split on the actually hitting part. I'm not sure and I've watched from both angles.
I've played shots like this one where I had to get the bridge out of the way quickly and I've been unsure whether I fouled or not. If the cue ball hits stick or bridge solidly, it slows down a lot. In the video the cue ball does not seem to slow down or at least very little. If I had been playing the shot my conclusion as a player probably would have been that I had not fouled because the cue ball went pretty much where I expected.
However, I think Jay is right and a foul could have been called on the referee. In my view, he should have been much closer to the shot and probably perpendicular to the line of the shot, not standing behind it, but in the flow of play it is sometimes hard to realize early enough where you need to be and get there without sharking the player. If I had been the ref and in position, and I couldn't be sure whether there had actually been contact, I would have judged by the cue ball's action, which looked OK, more or less.
For a little extra wrinkle, go back to the video and watch what the cue ball does as it rolls into position for the five ball (off the eight ball). That should also be a foul but I don't know who to call it on.