 
 namespace pcl
 {
-    namespace device
-    {        
-
+  namespace device
+  {
       texture<unsigned short, 2, cudaReadModeElementType> depthTex;
       texture<unsigned short, 2, cudaReadModeElementType> maskTex;
       texture<char4, 2, cudaReadModeElementType> multilabelTex;


      cudaSafeCall( cudaGetLastError() );
      cudaSafeCall( cudaThreadSynchronize() );
      cudaSafeCall( cudaUnbindTexture(depthTex) );        
    }



    void CUDA_runTree_masked( const float  focal,
                              const int    treeHeight,


      int W = depth.cols();
      int H = depth.rows();

      cudaChannelFormatDesc channeldesc = cudaCreateChannelDesc<unsigned short>();

      depthTex.addressMode[0] = cudaAddressModeClamp;
      cudaSafeCall( cudaBindTexture2D(0, depthTex, depth.ptr(), channeldesc, W, H, depth.step()) );

      dim3 block(16, 16);
      dim3 grid( divUp(W, block.x), divUp(H, block.y) );

      KernelCUDA_runTree<<< grid, block >>>( W, H, focal, treeHeight, numNodes, 
                                                       (const Node*)  nodes_device, 
                                                       (const Label*) leaves_device, 
