c++ - Invalid allocation size error in pcl1.7.2 -

i try display aligned rgb point clouds using icp algorithm.but during alignment of point cloud throws "invalid allocation size error".

my code:

pcl::pointcloud<pcl::pointxyzrgb>::ptr passingcloudstoicp( pcl::pointcloud<pcl::pointxyzrgb>::ptr pointcloud1, pcl::pointcloud<pcl::pointxyzrgb>::ptr pointcloud2)          {                    pcl::iterativeclosestpoint<pcl::pointxyzrgb, pcl::pointxyzrgb> icp;                  icp.setinputcloud (pointcloud1);                   icp.setinputtarget (pointcloud2);                  // set max correspondence distance 5cm (e.g., correspondences higher distances ignored)                  icp.setmaxcorrespondencedistance (0.05);                  //set maximum number of iterations (criterion 1)                  icp.setmaximumiterations (25);                  // set transformation epsilon (criterion 2)                  icp.settransformationepsilon (1e-8);                  // set euclidean distance difference epsilon (criterion 3)                  icp.seteuclideanfitnessepsilon (1);                  //perform alignment                  icp.align(*finalcloud);                  return finalcloud;          }  

i have tried debug , done code walkthrough,when icp.align(*finalcloud) executes goes following file registration.hpp,here goes through following function.

--- pcl::registration<pointsource, pointtarget, scalar>::align (pointcloudsource &output, const matrix4& guess)"       --- "initcompute()"       ---- "setinputcloud(target_)" -- when line executes compiler throws "invalid allocation size 4294967295 bytes"  

please suggest me how fix error.

any appreciated.