Contents

Complex numbers etc.

Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
2

Introduction
Jean Baptiste

Joseph Fourier
(*1768-1830)
French Mathematician
La Thorie Analitique
de la Chaleur (1822)

Fourier Series
Any periodic function can be expressed as a

sum of sines and/or cosines

Fourier Series

Fourier Transform
Even functions that
are not periodic
have a finite area under curve

can be expressed as an integral of sines and

cosines multiplied by a weighing function
Both the Fourier Series and the Fourier
Transform have an inverse operation:
Original Domain
Fourier Domain

Contents
Complex numbers etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
6

Complex numbers
Complex number

Its complex conjugate

Complex numbers polar

Complex number in polar coordinates

Eulers formula
Sin () ?

Cos ()?

Vector
Im

Re

10

Complex math
Complex (vector) addition

Multiplication with I

is rotation by 90 degrees

11

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
12

Unit impulse

(Dirac delta function)

Definition

Constraint
Sifting property
Specifically for t=0

13

Discrete unit impulse

Definition

Constraint
Sifting property
Specifically for x=0

14

Impulse train

What does this look like? T = 1

15

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
16

Fourier Series
Periodic
with
period T

Series of
sines and
cosines,
see
Eulers
formula

with

17

Fourier Transform
Continuous Fourier Transform (1D)

Inverse Continuous Fourier Transform (1D)

18

Symmetry: The only difference between the Fourier

Transform and its inverse is the sign of the exponential.

19

Fourier and Euler

Fourier
Euler

If f(t) is real, then F() is complex

F() is expansion of f(t) multiplied by

sinusoidal terms
t is integrated over, disappears
F() is a function of only , which determines
the frequency of sinusoidals
Fourier transform
frequency domain
21

Examples Block 1
A

-W/2

W/2
22

Examples Block 2

23

Examples Block 3

?
24

Examples Impulse

constant
25

Examples Shifted
impulse

Euler

26

Examples Shifted
impulse 2
impulse

Real part

constant

Imaginary part

27

Examples - Impulse train

28

Examples - Impulse train

2

29

Intermezzo: Symmetry in
the FT

30

31

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
32

Fourier + Convolution
What is the Fourier domain equivalent of

convolution?

33

What is

34

Intermezzo 1
What is

?
Let

, so

35

Intermezzo 2

Property of Fourier Transform

36

Fourier + Convolution
contd

37

Recapitulation 1
Convolution in one domain is multiplication in

the other domain

And (see book)

38

Recapitulation 2
Shift in one domain is multiplication with

complex exponential in the other domain

And (see book)

39

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
40

Sampling
Sampled function can be written as

Obtain value of arbitrary sample k as

41

Sampling - 2

42

Sampling - 3

43

Sampling - 4

44

FT of sampled functions
Fourier transform of sampled function

Convolution theorem

(who?)

From FT of impulse train

45

FT of sampled functions

46

Sifting property

47

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
48

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
54

Discrete Fourier
Transform
Fourier Transform of a sampled function is an
infinite periodic sequence of copies of the
transform of the original continuous function

55

Discrete Fourier
Transform
Continuous transform of sampled function

56

is discrete function

is continuous and infinitely periodic with

period
1/T

57

We need only one period to characterise

If we want to take M equally spaced samples

from
in the period = 0 to = 1/, this can
be done thus

58

Substituting

Into
yields

59

Contents
Complex number etc.
Impulses
Fourier Transform (+examples)
Convolution theorem
Fourier Transform of sampled functions
Sampling theorem
Aliasing
Discrete Fourier Transform
Application Examples
60

Fourier Transform Table

61

62

Formulation in 2D spatial
coordinates
Continuous Fourier Transform (2D)

Inverse Continuous Fourier Transform (2D)

with angular frequencies

63

Contents
Fourier Transform of sine and cosine
2D Fourier Transform
Properties of the Discrete Fourier Transform

64

Eulers formula

65

Recall

66

Recall

67

Cos(t)

1/2

1/2i

Sin(t)

68

Contents
Fourier Transform of sine and cosine
2D Fourier Transform
Properties of the Discrete Fourier Transform

69

Formulation in 2D spatial coordinates

Continuous Fourier Transform (2D)

Inverse Continuous Fourier Transform (2D)

with angular frequencies

70

Discrete Fourier
Transform
Forward
Inverse

71

Formulation in 2D spatial coordinates

Discrete Fourier Transform (2D)

Inverse Discrete Transform (2D)

72

Spatial and Frequency intervals

Inverse proportionality
(Smallest) Frequency step depends on largest

distance covered in spatial domain

Suppose function is sampled M times in x,
with step
, distance
is covered,
which is related to the lowest frequency that
can be measured

73

Examples

74

Fourier Series
Periodic
with
period T

Series of
sines and
cosines,
see
Eulers
formula

with

75

Examples

76

Periodicity
2D Fourier Transform is periodic in both

directions

77

Periodicity
2D Inverse Fourier Transform is periodic in

both directions

78

Fourier Domain

79

Inverse Fourier Domain

Periodic!
Periodic?

80

Contents
Fourier Transform of sine and cosine
2D Fourier Transform
Properties of the Discrete Fourier Transform

81

Properties of the 2D DFT

82

Real
Real

Imaginary
Sin (x
(x) + /2)
83

Even
Real

Imaginary
F(Cos(x)+k)
F(Cos(x))
84

Odd
Real

Imaginary
Sin (x)
(x)Sin(y)
85

Real

Imaginary
(Sin (x)+1)(Sin(y)+1)
86

Symmetry: even and odd

Any real or complex function w(x,y) can be

expressed as the sum of an even and an odd

part (either real or complex)

87

Properties
Even function

Odd function

88

Properties - 2

89

Consequences for the Fourier Transform

FT of real function is conjugate symmetric

FT of imaginary function is conjugate

antisymmetric

90

Im

Re

Re

Im

FT of even and odd functions

FT of even function is real

FT of odd function is imaginary

95

Even
Real

Imaginary
Cos (x)
96

Odd
Real

Imaginary
Sin (x)
97