From 74ea7429c1c76bdd3d89d58be8da30359d31e345 Mon Sep 17 00:00:00 2001 From: kulfer80 <164762611+kulfer80@users.noreply.github.com> Date: Thu, 13 Jun 2024 13:16:27 +0200 Subject: [PATCH] Changed hash func in preprocessing to be consistent with voxel map hash func (#341) --- cpp/kiss_icp/core/Preprocessing.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp index 5256275f..221651bf 100644 --- a/cpp/kiss_icp/core/Preprocessing.cpp +++ b/cpp/kiss_icp/core/Preprocessing.cpp @@ -36,7 +36,7 @@ using Voxel = Eigen::Vector3i; struct VoxelHash { size_t operator()(const Voxel &voxel) const { const uint32_t *vec = reinterpret_cast(voxel.data()); - return ((1 << 20) - 1) & (vec[0] * 73856093 ^ vec[1] * 19349663 ^ vec[2] * 83492791); + return ((1 << 20) - 1) & (vec[0] * 73856093 ^ vec[1] * 19349669 ^ vec[2] * 83492791); } }; } // namespace