With her hands steady at the controls, her voice calm as she spoke to mission control, Collins piloted the craft through a slow, graceful somersault. With the shuttle's underside now visible, the damage was quickly spotted - and a spacewalk was carried out to repair it.
Another way to look at our threshold matrix is as a kind of probability matrix. Instead of offsetting the input pixel by the value given in the threshold matrix, we can instead use the value to sample from the cumulative probability of possible candidate colours, where each colour is assigned a probability or weight . Each colour’s weight represents it’s proportional contribution to the input colour. Colours with greater weight are then more likely to be picked for a given pixel and vice-versa, such that the local average for a given region should converge to that of the original input value. We can call this the N-candidate approach to palette dithering.
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