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80 lines
1.6 KiB
80 lines
1.6 KiB
#pragma kernel BakeVertexTexColorResK2
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uint2 PointCloudRes;
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uint2 DepthRes;
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float2 SpaceScale;
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uint MinDepth;
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uint MaxDepth;
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int BodyIndexAll;
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int BodyIndex0;
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int BodyIndex1;
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int BodyIndex2;
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int BodyIndex3;
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int BodyIndex4;
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StructuredBuffer<float> SpaceTable;
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StructuredBuffer<uint> DepthMap;
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StructuredBuffer<uint> BodyIndexMap;
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StructuredBuffer<float> ColorToDepthMap;
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RWTexture2D<float4> PointCloudVertexTex;
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[numthreads(8, 8, 1)]
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void BakeVertexTexColorResK2(uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x + id.y * PointCloudRes.x;
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int dx = max(ColorToDepthMap[i << 1], 0);
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int dy = max(ColorToDepthMap[(i << 1) + 1], 0);
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uint di = dx + dy * DepthRes.x;
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uint depth2 = DepthMap[di >> 1];
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uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff;
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depth = (depth >= MinDepth && depth <= MaxDepth) * depth;
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//float fDepth = (float)depth / 1000.0;
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//bool mask = depth != 0;
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uint bi4 = BodyIndexMap[di >> 2];
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int bi = 255;
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switch (di & 3)
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{
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case 0:
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bi = bi4 & 255;
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break;
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case 1:
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bi = (bi4 >> 8) & 255;
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break;
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case 2:
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bi = (bi4 >> 16) & 255;
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break;
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case 3:
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bi = (bi4 >> 24) & 255;
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break;
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}
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bool mask = false;
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if (BodyIndexAll != 0)
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{
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mask = (bi != 255);
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}
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else
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{
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mask = ((bi == BodyIndex0) || (bi == BodyIndex1) || (bi == BodyIndex2) || (bi == BodyIndex3) || (bi == BodyIndex4));
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}
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float fDepth = (float)(depth * mask) / 1000.0;
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float3 pos = float3(
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SpaceTable[di * 3] * fDepth * SpaceScale.x,
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SpaceTable[di * 3 + 1] * fDepth * SpaceScale.y,
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mask ? fDepth : 1000
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);
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PointCloudVertexTex[id.xy] = float4(pos, mask);
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}
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