       };
 
       mutable PtrStep<short2> volume;
-      float3 volume_size;
+      float3 cell_size;
 
       Intr intr;
 

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

        coo.x *= volume_size.x / VOLUME_X;
        coo.y *= volume_size.y / VOLUME_Y;
        coo.z *= volume_size.z / VOLUME_Z;

        return coo;
      }

{
  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;
