The Canons of the Council of Trent clearly state that the Sacraments are necessary for salvation, that Baptism is necessary for salvation, and that water is the matter for Baptism.
Council of Trent, Session Seven, On The Sacraments in General, Canon IV:
If any one saith, that the sacraments of the New Law are not necessary unto salvation, but superfluous; and that, without them, or without the desire thereof, men obtain of God, through faith alone, the grace of justification;-though all (the sacraments) are not indeed necessary for every individual; let him be anathema.
The following syllogism lays out the necessity of baptism with water for salvation.
Major: If any one saith, that baptism is free, that is, not necessary unto salvation; let him be anathema. (Council of Trent, Session Seven, On Baptism, Canon V)
Minor: If any one saith, that true and natural water is not of necessity for baptism, and, on that account, wrests, to some sort of metaphor, those words of our Lord Jesus Christ; Unless a man be born again of water and the Holy Ghost; let him be anathema. (Council of Trent, Session Seven, On Baptism, Canon II)
Conclusion: Baptism with water is necessary for salvation.
No Pope or Ecuмenical Council has defined Baptism of Desire or Baptism of Blood, and they are not universal teachings of the Church.