Fourier Transform (Chapter 4)

CS474/674 Prof. Bebis

Mathematical Background:
Complex Numbers
A complex number x is of the form:


: real part, b: imaginary part

Addition:


Multiplication:



Mathematical Background:
Complex Numbers (contd)
Magnitude-Phase (i.e.,vector) representation


Magnitude:



Phase:


Magnitude-Phase 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


/2
/2
3/2
3/2
Mathematical Background:
Sine and Cosine Functions (contd)
Note: cosine is a shifted sine function:
Shifting or translating the sine function by a const b
cos( ) sin( )
2
t t


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

Basis Functions
Given a vector space of functions, S, then if any f(t) S can
be expressed as


the set of functions
k
(t) are called the expansion set of S.

If the expansion is unique, the set
k
(t) is a basis.


( ) ( )
k k
k
f t a t

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




Inverse Transformation

1
0
1
0
1 ,..., 1 , 0 , 1 ,..., 1 , 0 ) , , , ( ) , ( ) , (
M
x
N
y
N v M u v u y x r y x f v u T

1
0
1
0
1 ,..., 1 , 0 , 1 ,..., 1 , 0 ) , , , ( ) , ( ) , (
M
u
N
v
N y M x v u y x s v u T y x f
inverse transformation kernel
forward transformation kernel
Kernel Properties
A kernel is said to be separable if:



A kernel is said to be symmetric if:



) , ( ) , ( ) , , , (
2 1
v y r u x r v u y x r
) , ( ) , ( ) , , , (
1 1
v y r u x r v u y x r
Notation
Continuous Fourier Transform (FT)

Discrete Fourier Transform (DFT)

Fast Fourier Transform (FFT)
Fourier Series Theorem
Any periodic function f(t) can be expressed as a
weighted sum (infinite) of sine and cosine functions of
varying frequency:
is called the fundamental frequency
Fourier Series (contd)

3

Continuous Fourier Transform (FT)
Transforms a signal (i.e., function) from the spatial (x)
domain to the frequency (u) domain.
where
(IFT)
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
remove high
frequencies
reconstructed
signal
frequencies
noisy signal
To remove certain
frequencies, set their
corresponding F(u)
coefficients to zero!
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
rect(x) function sinc(x)=sin(x)/x
magnitude
Example: impulse or delta function
Definition of delta function:

Properties:
Example: impulse or delta function (contd)
FT of delta function:
1
u
x
Example: spatial/frequency shifts



) ( ) ( ) 2 (
) ( ) ( ) 1 (
), ( ) (
0
2
2
0
0
0
u u F e x f
u F e x x f
then u F x f
x u j
ux j

Special Cases:
0
2
0
) (
ux j
e x x

) (
0
2
0
u u e
x u j

Example: sine and cosine functions

FT of the cosine function

cos(2u
0
x)
1/2
F(u)
Example: sine and cosine functions (contd)
FT of the sine function
sin(2u
0
x)
-jF(u)
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



Inverse DFT


u,v = 0,1,2, , N-1
x,y = 0,1,2, , N-1
Extending DFT to 2D (contd)
2D cos/sin functions
Visualizing DFT
Typically, we visualize |F(u,v)|
The dynamic range of |F(u,v)| is typically very large

Apply streching: (c is const)
before stretching after stretching
original image
|F(u,v)| |D(u,v)|
DFT Properties: (1) Separability
The 2D DFT can be computed using 1D transforms only:


Forward DFT:


2 ( ) 2 ( ) 2 ( )
ux vy ux vy
j j j
N N N
e e e

kernel is
separable:
DFT Properties: (1) Separability (contd)
Rewrite F(u,v) as follows:




Lets set:


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





How can we compute F(u,v)?

DFT Properties: (1) Separability (contd)
)
N x DFT of rows of f(x,y)
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)
More symmetry properties
DFT Properties: (4) Translation




f(x,y) F(u,v)
)
N
Translation in spatial domain:
Translation in frequency domain:
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-N/2)|
|F(u)|
DFT Properties: (4) Translation (contd)



To move F(u,v) at (N/2, N/2), take
)
N
)
N
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
So:
Average:
F(u,v) at u=0, v=0:
Magnitude and Phase of DFT
What is more important?








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


magnitude
phase
Magnitude and Phase of DFT (contd)






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

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

Magnitude and Phase of DFT (contd)