fix invalid bucket access bug (#97)

* fix invalid bucket access bug

* Update Dockerfile

Co-authored-by: k.koide <[email protected]>

Author: koide3

docker/focal_cuda/Dockerfile

@@ -1,4 +1,4 @@
-FROM nvidia/cuda:11.1-devel-ubuntu20.04
+FROM nvidia/cuda:11.6.2-devel-ubuntu20.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 

src/fast_gicp/cuda/gaussian_voxelmap.cu

@@ -100,6 +100,10 @@ struct accumulate_points_kernel {
       const thrust::pair<Eigen::Vector3i, int>& bucket = thrust::raw_pointer_cast(buckets_ptr)[bucket_index];
 
       if (equal(bucket.first, coord)) {
+        if (bucket.second < 0) {
+          break;
+        }
+
         int& num_points = thrust::raw_pointer_cast(num_points_ptr)[bucket.second];
         Eigen::Vector3f& voxel_mean = thrust::raw_pointer_cast(voxel_means_ptr)[bucket.second];
         Eigen::Matrix3f& voxel_cov = thrust::raw_pointer_cast(voxel_covs_ptr)[bucket.second];