   dim3 grid (divUp (VOLUME_X, block.x), divUp (VOLUME_Y, block.y));
 
 #if 0
-  //float3 cell_size;
-  //cell_size.x = volume_size.x / VOLUME_X;
-  //cell_size.y = volume_size.y / VOLUME_Y;
-  //cell_size.z = volume_size.z / VOLUME_Z;
-  //tsdf2<<<grid, block>>>(volume, volume_size, tranc_dist, Rcurr_inv, tcurr, intr, depth_raw, cell_size);
-  else
-    integrateTsdfKernel<<<grid, block>>>(tsdf);
+   //tsdf2<<<grid, block>>>(volume, tranc_dist, Rcurr_inv, tcurr, intr, depth_raw, tsdf.cell_size);
+   integrateTsdfKernel<<<grid, block>>>(tsdf);
 #endif
   cudaSafeCall ( cudaGetLastError () );
   cudaSafeCall (cudaDeviceSynchronize ());

      };

      mutable PtrStep<short2> volume;
      float3 volume_size;

      Intr intr;


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

        coo.x *= cell_size.x;
        coo.y *= cell_size.y;
        coo.z *= cell_size.z;

        return coo;
      }
