Fix noise issue that appears in certain image textures (#578)

The issue is that if a pixel's color value in 8 bit format is close 1 (out of 255), when assigned to `math::Color`, `math::Color::Clamp` assumes it to be in the floating point range [0.0 - 1.0] instead of 8 bit unsigned range of [0 - 255]. The fix here is to convert colors to floating point at the source instead of relying on `Color::Clamp`. Signed-off-by: Addisu Z. Taddese <[email protected]>
gazebosim · Mar 4, 2024 · 3571cb4 · 3571cb4
1 parent 3374a3b
commit 3571cb4
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/graphics/src/Image.cc b/graphics/src/Image.cc
@@ -533,7 +533,8 @@ math::Color Image::Pixel(unsigned int _x, unsigned int _y) const
         << _x << " " << _y << "] \n";
       return clr;
     }
-    clr.Set(firgb.rgbRed, firgb.rgbGreen, firgb.rgbBlue);
+    clr.Set(firgb.rgbRed / 255.0f, firgb.rgbGreen / 255.0f,
+            firgb.rgbBlue / 255.0f);
   }
   else
   {
@@ -606,7 +607,8 @@ math::Color Image::MaxColor() const
             << x << " " << y << "] \n";
           continue;
         }
-        clr.Set(firgb.rgbRed, firgb.rgbGreen, firgb.rgbBlue);
+        clr.Set(firgb.rgbRed / 255.0f, firgb.rgbGreen / 255.0f,
+                firgb.rgbBlue / 255.0f);
 
         if (clr.R() + clr.G() + clr.B() > maxClr.R() + maxClr.G() + maxClr.B())
         {