This time, before we perturb the input image, we take the value given by the threshold matrix and divide it by , where is the number of levels for each colour component. As a result, each pixel is perturbed just enough to cover the minimal distance between two colours in the palette. Since the entire palette is evenly distributed across colour space, we only need to modify the range of perturbation along each axis. The dithering equation then becomes:
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Lovell retired from the navy in 1973 and opted for a the quiet life, working for the Bay-Houston Towing Company, giving speeches and serving as president of the National Eagle Scout Association.