     CudaErrorCheck(cudaDeviceSynchronize());
 
     // clean code
-
     delete(h_depthMap);
     delete(h_matrixK);
     delete(h_matrixRT);


  // Get the distance between voxel and camera
  double realDepth = norm(voxelCenterCamera);

  // Clean memory (pointers that are no longer used)
  delete(voxelCenter);
  delete(voxelCenterCamera);
  delete(voxelCenterHomogen);

  // Test if coordinate are inside depth map
  if (pixel[0] < 0 || pixel[1] < 0 || pixel[2] < 0 ||

  computeVoxelCenter(voxelCoordinate, voxelCenterTemp);

  // Transform voxel from grid to real coord
  double voxelCenter[3];
  transformFrom4Matrix(c_gridMatrix, voxelCenterTemp, voxelCenter);

  // Transform voxel center from real coord to camera coords
  double voxelCenterCamera[3];
  transformFrom4Matrix(matrixTR, voxelCenter, voxelCenterCamera);

  // Transform voxel center from camera coords to depth map homogeneous coords
  double voxelCenterHomogen[3];
  transformFrom4Matrix(matrixK, voxelCenterCamera, voxelCenterHomogen);

  // Get voxel center on depth map coord
