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Update hash function to use primes #178

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ybrunken
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19349663 is not a prime. 19349663 = 41×471943

The number set is like the one proposed in "Optimized Spatial Hashing for Collision Detection of Deformable Objects". Also here 19349663 is stated to be prime.
In "Real-time 3D Reconstruction at Scale using Voxel Hashing", the non-prime is exchanged with 19349669

@nachovizzo
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nachovizzo commented Jun 26, 2023

Hello, @ybrunken. Thanks again for contributing. We are indeed aware of the non-primeness of the numbers. Indeed @benemer is already updating OpenVDB, where we originally took inspiration for the hashing function at AcademySoftwareFoundation/openvdb#1626

If I may, I would like to ask: Did you experience any improvement? After changing the function ourselves, we couldn't really see any difference in runtime/accuracy (we also did not instrument the hashing library at all). This question is out of curiosity only

Thanks!

@nachovizzo nachovizzo merged commit 23e8100 into PRBonn:main Jul 13, 2023
PGotzmann pushed a commit to kin-dergarten/kiss-icp that referenced this pull request Oct 17, 2023
@nachovizzo nachovizzo added the voxelization All the topic related to voxelization utilities label Aug 5, 2024
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