From d72986fce6bbf7373f34ce2937eb3461bc21fa2d Mon Sep 17 00:00:00 2001
From: ssg1002 <sgupta2@uni-bonn.de>
Date: Fri, 12 Jul 2024 16:15:07 +0200
Subject: [PATCH] Remove modulus operation from hash, again

---
 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 d9e1d805..de315093 100644
--- a/cpp/kiss_icp/core/Preprocessing.cpp
+++ b/cpp/kiss_icp/core/Preprocessing.cpp
@@ -37,7 +37,7 @@ using Voxel = Eigen::Vector3i;
 struct VoxelHash {
     size_t operator()(const Voxel &voxel) const {
         const uint32_t *vec = reinterpret_cast<const uint32_t *>(voxel.data());
-        return ((1 << 20) - 1) & (vec[0] * 73856093 ^ vec[1] * 19349669 ^ vec[2] * 83492791);
+        return (vec[0] * 73856093 ^ vec[1] * 19349669 ^ vec[2] * 83492791);
     }
 };