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34 lines
754 B
34 lines
754 B
#pragma kernel EstimateOffsetHist
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uint2 PointCloudRes;
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uint OfsHistBinLength;
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float BinSize;
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StructuredBuffer<float> PointCloudOfs;
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StructuredBuffer<bool> PointCloudMask;
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StructuredBuffer<float> OfsMinMax;
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RWStructuredBuffer<uint> OfsHistBinCount;
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//RWStructuredBuffer<float> OfsHistBinLeft;
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[numthreads(1, 1, 1)]
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void EstimateOffsetHist(uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x + id.y * PointCloudRes.x;
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float minOfs = OfsMinMax[0];
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//float maxOfs = OfsMinMax[1];
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float ofs = PointCloudOfs[i];
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if (PointCloudMask[i])
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{
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uint hi = (uint)((ofs - minOfs) / BinSize);
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if (hi < OfsHistBinLength)
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{
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OfsHistBinCount[hi] = OfsHistBinCount[hi] + 1; // OfsHistBinCount[hi]++;
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//OfsHistBinLeft[hi] = hi * BinSize + minOfs;
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}
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}
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}
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