In RobustnessModell.cu line 67 to 70，
maxShift.x = fmaxf(s.x, shiftf.x);
maxShift.y = fmaxf(s.y, shiftf.y);
minShift.x = fminf(s.x, shiftf.x);
minShift.y = fminf(s.y, shiftf.y);
It seems that you are finding minimum and maximum number of s, but it doesn't.
maybe the code below is your original idea
maxShift.x = fmaxf(s.x, maxShift.x);
maxShift.y = fmaxf(s.y, maxShift.y);
minShift.x = fminf(s.x, minshift.x);
minShift.y = fminf(s.y, minshift.y);
In RobustnessModell.cu line 67 to 70，
It seems that you are finding minimum and maximum number of s, but it doesn't.
maybe the code below is your original idea