Fix noise issue that appears in certain image textures

[azeey]

🦟 Bug fix

Summary

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.

Reference glTF file: Damaged helmet

Before

After

Test it

• Extract DamagedHelmet.zip and run gz sim test.sdf from the same directory

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 83.65%. Comparing base (3374a3b) to head (9763548).

Additional details and impacted files

@@             Coverage Diff             @@
##           gz-common5     #578   +/-   ##
===========================================
  Coverage       83.65%   83.65%           
===========================================
  Files              92       92           
  Lines           10285    10287    +2     
===========================================
+ Hits             8604     8606    +2     
  Misses           1681     1681           

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[iche033]

ouch, I remember running into the same issue before and worked around it. We should probably change the way math::Color::Clamp works in main