       };
 
       mutable PtrStep<short2> volume;
-      float3 volume_size;
+      float3 cell_size;
 
       Intr intr;
 

        float3 coo = make_float3 (x, y, z);
        coo += 0.5f;         //shift to cell center;

        coo.x *= volume_size.x / VOLUME_X;
        coo.y *= volume_size.y / VOLUME_Y;
        coo.z *= volume_size.z / VOLUME_Z;

        return coo;
      }

  dim3 grid (divUp (VOLUME_X, block.x), divUp (VOLUME_Y, block.y));

#if 0
   //tsdf2<<<grid, block>>>(volume, tranc_dist, Rcurr_inv, tcurr, intr, depth_raw, tsdf.cell_size);
   integrateTsdfKernel<<<grid, block>>>(tsdf);
#endif
  cudaSafeCall ( cudaGetLastError () );
  cudaSafeCall (cudaDeviceSynchronize ());
