     }
 
     __global__ void
-    tsdf2 (PtrStep<short2> volume, const float3 volume_size, const float tranc_dist_mm, const Mat33 Rcurr_inv, float3 tcurr,
+    tsdf2 (PtrStep<short2> volume, const float tranc_dist_mm, const Mat33 Rcurr_inv, float3 tcurr,
            const Intr intr, const PtrStepSz<ushort> depth_raw, const float3 cell_size)
     {
       int x = threadIdx.x + blockIdx.x * blockDim.x;

      };

      mutable PtrStep<short2> volume;
      float3 volume_size;

      Intr intr;


{
  Tsdf tsdf;

  tsdf.volume = volume;  
  tsdf.cell_size.x = volume_size.x / VOLUME_X;
  tsdf.cell_size.y = volume_size.y / VOLUME_Y;
  tsdf.cell_size.z = volume_size.z / VOLUME_Z;
  
  tsdf.intr = intr;

  tsdf.Rcurr_inv = Rcurr_inv;
