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Recap of Friday

linear Filtering
convolution
differential filters
filter types
boundary conditions.
Review: questions
1. Write down a 3x3 filter that returns a positive
value if the average value of the 4-adjacent
neighbors is less than the center and a
negative value otherwise

2. Write down a filter that will compute the


gradient in the x-direction:
gradx(y,x) = im(y,x+1)-im(y,x) for each x, y

Slide: Hoiem
Review: questions
Filtering Operator
a) _ = D * B
3. Fill in the blanks: A
b) A = _ * _
c) F = D * _
d) _ = D * D

B
E
G
F C

H I D

Slide: Hoiem
The Frequency Domain (Szeliski 3.4)

Somewhere in Cinque Terre, May 2005

CS129: Computational Photography


Slides from Steve Seitz
and Alexei Efros
James Hays, Brown, Spring 2011
Salvador Dali
“Gala Contemplating the Mediterranean Sea,
which at 30 meters becomes the portrait
of Abraham Lincoln”, 1976
A nice set of basis
Teases away fast vs. slow changes in the image.

This change of basis has a special name…


Jean Baptiste Joseph Fourier (1768-1830)
had crazy idea (1807):
Any periodic function
can be rewritten as a
weighted sum of sines
and cosines of different
frequencies.
Don’t believe it?
• Neither did Lagrange,
Laplace, Poisson and
other big wigs
• Not translated into
English until 1878!
But it’s true!
• called Fourier Series
A sum of sines
Our building block:
Asin( x   
Add enough of them to get
any signal f(x) you want!

How many degrees of


freedom?

What does each control?

Which one encodes the


coarse vs. fine structure of
the signal?
Fourier Transform
We want to understand the frequency  of our signal. So,
let’s reparametrize the signal by  instead of x:

f(x) Fourier F()


Transform

For every  from 0 to inf, F() holds the amplitude A


and phase  of the corresponding sine Asin( x   
• How can F hold both? Using complex numbers.

F ( )  R( )  iI ( )
1 I ( )
A   R( )  I ( )
2 2
  tan
R( )
We can always go back:

F() Inverse Fourier f(x)


Transform
Time and Frequency
example : g(t) = sin(2pf t) + (1/3)sin(2p(3f) t)
Time and Frequency
example : g(t) = sin(2pf t) + (1/3)sin(2p(3f) t)

= +
Frequency Spectra
example : g(t) = sin(2pf t) + (1/3)sin(2p(3f) t)

= +
Frequency Spectra
Usually, frequency is more interesting than the phase
Frequency Spectra

= +

=
Frequency Spectra

= +

=
Frequency Spectra

= +

=
Frequency Spectra

= +

=
Frequency Spectra

= +

=
Frequency Spectra


1
= A sin(2 kt )
k 1 k
Frequency Spectra
Extension to 2D

in Matlab, check out: imagesc(log(abs(fftshift(fft2(im)))));


Man-made Scene
Can change spectrum, then reconstruct
Low and High Pass filtering
The Convolution Theorem

• The Fourier transform of the convolution of two


functions is the product of their Fourier transforms
F[ g  h]  F[ g ] F[h]

• Convolution in spatial domain is equivalent to


multiplication in frequency domain!
2D convolution theorem example

f(x,y) |F(sx,sy)|

h(x,y) |H(sx,sy)|

g(x,y) |G(sx,sy)|
Filtering in frequency domain

FFT

FFT

Inverse FFT
=
Slide: Hoiem
FFT in Matlab
• Filtering with fft
im = double(imread(‘…'))/255;
im = rgb2gray(im); % “im” should be a gray-scale floating point image
[imh, imw] = size(im);

hs = 50; % filter half-size


fil = fspecial('gaussian', hs*2+1, 10);

fftsize = 1024; % should be order of 2 (for speed) and include padding


im_fft = fft2(im, fftsize, fftsize); % 1) fft im with padding
fil_fft = fft2(fil, fftsize, fftsize); % 2) fft fil, pad to same size as
image
im_fil_fft = im_fft .* fil_fft; % 3) multiply fft images
im_fil = ifft2(im_fil_fft); % 4) inverse fft2
im_fil = im_fil(1+hs:size(im,1)+hs, 1+hs:size(im, 2)+hs); % 5) remove padding

• Displaying with fft


figure(1), imagesc(log(abs(fftshift(im_fft)))), axis image, colormap jet

Slide: Hoiem
Fourier Transform pairs
Low-pass, Band-pass, High-pass filters
low-pass:

High-pass / band-pass:
Edges in images
What does blurring take away?

original
What does blurring take away?

smoothed (5x5 Gaussian)


High-Pass filter

smoothed – original
Image gradient
The gradient of an image:

The gradient points in the direction of most rapid change in intensity

The gradient direction is given by:

• how does this relate to the direction of the edge?


The edge strength is given by the gradient magnitude
Effects of noise
Consider a single row or column of the image
• Plotting intensity as a function of position gives a signal

How to compute a derivative?

Where is the edge?


Solution: smooth first

Where is the edge? Look for peaks in


Derivative theorem of convolution

This saves us one operation:


2D edge detection filters

Laplacian of Gaussian

Gaussian derivative of Gaussian

is the Laplacian operator:


Campbell-Robson contrast sensitivity curve
Depends on Color

R G B
Lossy Image Compression (JPEG)

Block-based Discrete Cosine Transform (DCT)


Using DCT in JPEG
The first coefficient B(0,0) is the DC component,
the average intensity
The top-left coeffs represent low frequencies,
the bottom right – high frequencies
Image compression using DCT
DCT enables image compression by
concentrating most image information in the
low frequencies
Lose unimportant image info (high frequencies)
by cutting B(u,v) at bottom right
The decoder computes the inverse DCT – IDCT
•Quantization Table
3 5 7 9 11 13 15 17
5 7 9 11 13 15 17 19
7 9 11 13 15 17 19 21
9 11 13 15 17 19 21 23
11 13 15 17 19 21 23 25
13 15 17 19 21 23 25 27
15 17 19 21 23 25 27 29
17 19 21 23 25 27 29 31
JPEG compression comparison

89k 12k
Things to Remember
Sometimes it makes sense to think of
images and filtering in the frequency
domain
• Fourier analysis

Can be faster to filter using FFT for


large images (N logN vs. N2 for auto-
correlation)

Images are mostly smooth


• Basis for compression

Remember to low-pass before sampling


Summary

Frequency domain can be useful for


Analysis
Computational efficiency
Compression

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