#pragma kernel BakeVertexTexColorResK2

uint2 PointCloudRes;
uint2 DepthRes;
float2 SpaceScale;

uint MinDepth;
uint MaxDepth;

StructuredBuffer<float> SpaceTable;
StructuredBuffer<uint> DepthMap;
StructuredBuffer<float> ColorToDepthMap;

RWTexture2D<float4> PointCloudVertexTex;


[numthreads(8, 8, 1)]
void BakeVertexTexColorResK2(uint3 id : SV_DispatchThreadID)
{
    uint i = id.x + id.y * PointCloudRes.x;

	int dx = ColorToDepthMap[i << 1];
	int dy = ColorToDepthMap[(i << 1) + 1];
	uint di = dx + dy * DepthRes.x;

	uint depth2 = DepthMap[di >> 1];
	uint depth = (di % 2 == 0 ? depth2 <<= 16 : depth2) >> 16;
	depth = (depth >= MinDepth && depth <= MaxDepth) * depth;

	float fDepth = (float)depth / 1000.0;
	bool mask = depth != 0;

    float3 pos = float3(
		SpaceTable[di * 3] * fDepth * SpaceScale.x,
        SpaceTable[di * 3 + 1] * fDepth * SpaceScale.y,
        mask ? fDepth : 1000
    );

	PointCloudVertexTex[id.xy] = float4(pos, mask);
}