   namespace device
   {
     __global__ void
-    scaleDepth (const PtrStepSz<ushort> depth, PtrStepSz<float> scaled, const Intr intr)
+    scaleDepth (const PtrStepSz<ushort> depth, PtrStep<float> scaled, const Intr intr)
     {
       int x = threadIdx.x + blockIdx.x * blockDim.x;
       int y = threadIdx.y + blockIdx.y * blockDim.y;

            pos += elem_step)
        {
            float inv_z = 1.0f / (v_z + Rcurr_inv.data[2].z * z_scaled);

            // project to current cam
            int2 coo =

           pos += elem_step)
      {
        float inv_z = 1.0f / (v_z + Rcurr_inv.data[2].z * z_scaled);
        if (inv_z < 0)
            continue;

        // project to current cam
        int2 coo =
