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Perhaps that’s the biggest irony of all. Space is huge and mostly empty—and yet there’s no easy way to throw things out.
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"I listened to the discussion, they knew I was the commander, and I said: 'It sounds like we can do it'."
Instead of perturbing each pixel in the input image at random, we can choose to dither by a predetermined amount depending on the pixel’s position in the image. This can be achieved using a threshold map; a small, fixed-size matrix where each entry tells us the amount by which to perturb the input value , producing the dithered value . This matrix is tiled across the input image and sampled for every pixel during the dithering process. The following describes a dithering function for a 4×4 matrix given the pixel raster coordinates :