cuda failure: invalid argument in cudaCluster

[xinxing-max]

Hello,

I used the cudacluster library in my ROS2 node. I subscribed to point cloud and clustered the point cloud. However, the following error occurred:

GPU has cuda devices: 1
----device id: 0 info----
GPU : Quadro P2000
Capbility: 6.1
Global memory: 4040MB
Const memory: 64KB
SM in a block: 48KB
warp size: 32
threads in a block: 1024
block dim: (1024,1024,64)
grid dim: (2147483647,65535,65535)

-------------- cudaExtractCluster -----------
LINE:178 0
Cuda failure: invalid argument at line 187 in file cudaCluster.cpp error status: 1
[ros2run]: Aborted

I checked the input point cloud and there was no problem. The problem lies in cudaec.extract(inputEC, sizeEC, outputEC, indexEC);. I can not see the source code so I have no idea about the invalid argument at line 187.

I have also tried the other libs like cudaFilter and cudaSegmentation and they worked fine. I used the branch x86_64 in Ubuntu 22.04. Does anyone have any solution for this?