 {
   Tsdf tsdf;
 
-  tsdf.volume = volume;
-  tsdf.volume_size = volume_size;
-
+  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;

    }

    __global__ void
    tsdf2 (PtrStep<short2> volume, const float3 volume_size, 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;

  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 ());
