Fourier Transform (Chapter 4)

CS474/674 Prof. Bebis

Mathematical Background: Complex Numbers

A complex number x is of the form:

a: real part, b: imaginary part Addition

Multiplication

Mathematical Background: Complex Numbers (contd)

Magnitude-Phase (i.e.,vector) representation

Magnitude:
Phase:
Phase Magnitude notation:

Mathematical Background: Complex Numbers (contd)

Multiplication using magnitude-phase representation

Complex conjugate

Properties

Mathematical Background: Complex Numbers (contd)

Eulers formula

Properties
j

Mathematical Background: Sine and Cosine Functions

Periodic functions General form of sine and cosine functions:

Mathematical Background: Sine and Cosine Functions

Special case: A=1, b=0, =1

Mathematical Background: Sine and Cosine Functions (contd)

Shifting or translating the sine function by a const b

Note: cosine is a shifted sine function:

cos(t ) sin(t ) 2

Mathematical Background: Sine and Cosine Functions (contd)

Changing the amplitude A

Mathematical Background: Sine and Cosine Functions (contd)

Changing the period T=2/||
consider A=1, b=0: y=cos(t)

=4 period 2/4=/2 shorter period higher frequency (i.e., oscillates faster) Frequency is defined as f=1/T Alternative notation: sin(t)=sin(2t/T)=sin(2ft)

Image Transforms
Many times, image processing tasks are best performed in a domain other than the spatial domain. Key steps:
(1) Transform the image (2) Carry the task(s) in the transformed domain. (3) Apply inverse transform to return to the spatial domain.

Transformation Kernels
Forward Transformation
T (u , v)
M 1 N 1 x 0 y 0

forward transformation kernel

f ( x, y)r ( x, y, u, v)

u 0,1,..., M 1, v 0,1,..., N 1

inverse transformation kernel

Inverse Transformation
f ( x, y )
M 1 N 1 u 0 v 0

T (u, v)s( x, y, u, v)

x 0,1,..., M 1, y 0,1,..., N 1

Kernel Properties
A kernel is said to be separable if:

r ( x, y, u, v) r1 ( x, u )r2 ( y, v)
A kernel is said to be symmetric if:

r ( x, y, u, v) r1 ( x, u )r1 ( y, v)

Notation
Continuous Fourier Transform (FT)
Discrete Fourier Transform (DFT) Fast Fourier Transform (FFT)

Fourier Series Theorem

Any periodic function can be expressed as a weighted sum (infinite) of sine and cosine functions of varying frequency:

is called the fundamental frequency

Fourier Series (contd)

1
2 3

Continuous Fourier Transform (FT)

Transforms a signal (i.e., function) from the spatial domain to the frequency domain.

(IFT)

where

Why is FT Useful?
Easier to remove undesirable frequencies.
Faster perform certain operations in the frequency domain than in the spatial domain.

Example: Removing undesirable frequencies

noisy signal

frequencies

To remove certain frequencies, set their corresponding F(u) coefficients to zero!

remove high frequencies

reconstructed signal

How do frequencies show up in an image?

Low frequencies correspond to slowly varying information (e.g., continuous surface). High frequencies correspond to quickly varying information (e.g., edges)

Original Image

Low-passed

Example of noise reduction using FT

Frequency Filtering Steps

1. Take the FT of f(x):
2. Remove undesired frequencies: 3. Convert back to a signal:

Well talk more about this later .....

Definitions
F(u) is a complex function:
Magnitude of FT (spectrum): Phase of FT: Magnitude-Phase representation: Power of f(x): P(u)=|F(u)|2=

Example: rectangular pulse

magnitude

rect(x) function

sinc(x)=sin(x)/x

Example: impulse or delta function

Definition of delta function:
Properties:

Example: impulse or delta function (contd)

FT of delta function:

x u

Example: spatial/frequency shifts

f ( x) F (u ), then
Special Cases:

(1) f ( x x0 ) e (2) f ( x)e

j 2u0 x

j 2ux0

F (u )

( x x0 ) e
e
j 2u 0 x

j 2ux0

F (u u 0 )

(u u 0 )

Example: sine and cosine functions

FT of the cosine function

cos(2u0x)
1/2

F(u)

Example: sine and cosine functions (contd)

FT of the sine function

-jF(u)

sin(2u0x)

Extending FT in 2D
Forward FT

Inverse FT

Example: 2D rectangle function

FT of 2D rectangle function

2D sinc()

Discrete Fourier Transform (DFT)

Discrete Fourier Transform (DFT) (contd)

Forward DFT

Inverse DFT

1/Nx

Example

Extending DFT to 2D
Assume that f(x,y) is M x N.
Forward DFT

Inverse DFT:

Extending DFT to 2D (contd)

Special case: f(x,y) is N x N.
Forward DFT
u,v = 0,1,2, , N-1

Inverse DFT
x,y = 0,1,2, , N-1

Visualizing DFT
Typically, we visualize |F(u,v)| The dynamic range of |F(u,v)| is typically very large Apply streching: (c is const)

original image

before scaling

after scaling

DFT Properties: (1) Separability

The 2D DFT can be computed using 1D transforms only:
Forward DFT:

Inverse DFT:

kernel is separable:

j 2 (

ux vy ) N

j 2 (

ux vy ) j 2 ( ) N N

DFT Properties: (1) Separability (contd)

Rewrite F(u,v) as follows:

Lets set:

Then:

DFT Properties: (1) Separability (contd)

How can we compute F(x,v)?
)

N x DFT of rows of f(x,y)

How can we compute F(u,v)?

DFT of cols of F(x,v)

DFT Properties: (1) Separability (contd)

DFT Properties: (2) Periodicity

The DFT and its inverse are periodic with period N

DFT Properties: (3) Symmetry

If f(x,y) is real, then

(see Table 4.1 for more properties)

DFT Properties: (4) Translation

f(x,y) F(u,v)

Translation is spatial domain:

Translation is frequency domain:

) N

DFT Properties: (4) Translation (contd)

Warning: to show a full period, we need to translate the origin of the transform at u=N/2 (or at (N/2,N/2) in 2D)
|F(u)|

|F(u-N/2)|

DFT Properties: (4) Translation (contd)

To move F(u,v) at (N/2, N/2), take
) N

Using

DFT Properties: (4) Translation (contd)

no translation

after translation

DFT Properties: (5) Rotation

Rotating f(x,y) by rotates F(u,v) by

DFT Properties: (6) Addition/Multiplication

but

DFT Properties: (7) Scale

DFT Properties: (8) Average value

Average:

F(u,v) at u=0, v=0:

So:

Magnitude and Phase of DFT

What is more important?

magnitude

phase

Hint: use inverse DFT to reconstruct the image using magnitude or phase only information

Magnitude and Phase of DFT (contd)

Reconstructed image using magnitude only (i.e., magnitude determines the contribution of each component!)

Reconstructed image using phase only (i.e., phase determines which components are present!)

Magnitude and Phase of DFT (contd)