Lecture4 2DFT PDF

2-D Fourier Transforms
Yao Wang
Polytechnic University
University, Brooklyn
Brooklyn, NY 11201
With contribution from Zhu Liu, Onur Guleryuz, and

Gonzalez/Woods, Digital Image Processing, 2ed
Lecture Outline
• Continuous Fourier Transform (FT)
– 1D FT (review)
– 2D FT
• Fourier Transform for Discrete Time Sequence
(DTFT)
– 1D DTFT (review)
– 2D DTFT
• Linear
Li C
Convolution
l ti
– 1D, Continuous vs. discrete signals (review)
– 2D
• Filter Design
• Computer Implementation
Yao Wang, NYU-Poly EL5123: Fourier Transform 2

What is a transform?
• Transforms are decompositions of a function f(x)
into some basis functions Ø(x, u). u is typically
the freq. index.

Illustration of Decomposition
Φ3
f
α3
f = α1Φ1+α2Φ2+α3Φ3
o α2
Φ2
α1
Φ1

Decomposition
• Ortho-normal basis function
 1, u1  u2
  ( x, u1 ) * ( x, u2 )dx 0, u1  u2
• Forward

Projection of
)  ( x, u ) 
F (u )  f ( x),  f ( x)
*
( x, u )dx
d f(x) onto
 (x,u)
• Inverse

Representing f(x) as sum of
f ( x)   F (u ) ( x, u )du

(x,u) for all u, with weight
F(u)

Fourier Transform
• Basis function
 ( x, u )  e j 2ux
, u   , .
• Forward Transform

F (u )  F{ f ( x)}   f ( x)e  j 2ux dx
d

• Inverse Transform

f ( x)  F {F (u )}   F (u )e j 2ux du
1


Important Transform Pairs
f ( x)  1  F (u )   (u )
f ( x)  e j 2f0 x F (u )   (u  f 0 )
f ( x)  cos(2f 0 x)  F (u )   (u  f 0 )   (u  f 0 ) 
1
2
f ( x)  sin( 2f 0 x)  F (u ) 
1
 (u  f 0 )   (u  f 0 ) 
2j
 1, x  x0 sin( 2x0u )
f ( x)    F (u )   2 x0 sinc(2 x0u )
0, otherwise u
sin(t )
where, sinc(t ) 
t
Derive the last transform pair in class

FT of the Rectangle Function
sin( 2x0u ) sin(t )
F (u )   2 x0 sinc(2 x0u ) where, sinc(t ) 
u t
f(x) f(x) x0=2
x0=1
-1 1 x -2 2 x
Note first zero occurs at u0=1/(2 x0)=1/pulse-width, other zeros are multiples of this.
IFT of Ideal Low Pass Signal
• What is f(x)?
F(u)
-u0 u0 u

Representation of FT
• Generally, both f(x) and F(u) are complex
• Two representations
– Real and Imaginary F (u )  R(u )  jI (u )
– Magnitude and Phase
F (u )  A(u )e j (u ) , where I
I(u) F(u)
I (u )
A(u )  R(u ) 2  I (u ) 2 ,  (u )  tan 1
R (u
(u )
Φ(u)
R(u) R
• Relationship
R (u )  A(u ) cos  (u ), i  (u )
) I (u )  A(u ) sin
• Power spectrum
P (u )  A(u )  F (u )  F (u )  F (u )
2 * 2

What if f(x) is real?
• Real world signals f(x) are usually real
• F(u) is still complex,
complex but has special properties
F * (u )  F (u )
R (u )  R(u ), A(u )  A(u ), P(u )  P (u ) : even function
)  (u )   (u ) : odd function
I (u )   I (u ),

Property of Fourier Transform
• Duality f (t )  F (u )
F (t )  f ( u )
• Linearity
F a1 f1 ( x)  a2 f 2 ( x)  a1 F{ f1 ( x)}  a2 F{ f 2 ( x)}
• Scaling
S li
F af ( x)  aF{ f ( x)}
• Translation
f ( x  x0 )  F (u )e  j 2x0u , f ( x)e j 2u0 x  F (u  u0 )
• Convolution
f ( x)  g ( x)   f ( x   ) g ( )d
f ( x)  g ( x)  F (u )G (u )
We will review convolution later!

Two Dimension Fourier Transform
• Basis functions
 ( x, y; u , v)  e j ( 2ux  2vyy )  e j 2ux e j 2vyy , u , v   , .

• Forward – Transform
 
F (u, v)  F { f ( x, y )}   
 
f ( x, y )e  j 2 (ux  vy ) dxdy
• Inverse – Transform
 
f ( x, y )  F {F (u , v)}  
1
 F (u , v)e j 2 ( ux  vy )
dudv
 
• Property
P t
– All the properties of 1D FT apply to 2D FT

Example 1
f ( x, y )  sin 4x  cos 6y f(x,y)
F {sin 4x}   sin 4xe  j 2 (ux  vy ) dxdy
  sin 4xe  j 2ux dx  e  j 2vy dy

  sin 4xe  j 2ux dx (v)
1
 ( (u  2)   (u  2)) (v)
2j
1
 ( (u  2, v)   (u  2, v)) u
2j F(u,v)
 , x  y  0
where  ( x, y )   ( x) ( y )  
0, otherwise v
1
Likewise, F{cos 6y}  ( (u, v  3)   (u , v  3))
2

Example 2
f ( x, y )  sin( 2x  3y ) 
2j
e 
1 j ( 2x 3y )  j ( 2x 3y )
e 
 
F e j ( 2x 3y )   e j ( 2x 3y ) e  j 2 ( xu  yv ) dxdy
  e j 2x e  j 2ux dx  e j 3y e  j 2yv dy

3 3
  (u  1) (v  )   (u  1, v  ) [X,Y]=meshgrid(-2:1/16:2,-2:1/16:2);
[X Y]=meshgrid( 2:1/16:2 2:1/16:2);
2 2 f=sin(2*pi*X+3*pi*Y);
 
imagesc(f); colormap(gray)
3
Likewise, F e  j ( 2x 3y )   (u  1, v  ) Truesize, axis off;
2
Therefore
h f ,
1  3  u
F sin( 2x  3y ) 
3
  (u  1, v  )   (u  1, v  )  F(u,v)
2j 2 2 

Important Transform Pairs
sin( 2f x x  2f y y ) 

1
 (u  f x , v  f y )   (u  f x , v  f y )
2j
cos(2f x x  2f y y ) 
1
 (u  f x , v  f y )   (u  f x , v  f y )
2
2D rectangular
g function  2D sinc function

Properties of 2D FT (1)
• Linearity
F a1 f1 ( x, y )  a2 f 2 ( x, y )  a1 F{ f1 ( x, y )}  a2 F{ f 2 ( x, y )}
• Translation
 j 2  ( x0 u  y 0 v )
f ( x  x0 , y  y0 )  F (u , v)e ,
f ( x , y ) e j 2 ( u 0 x  v 0 y )  F (u  u0 , v  v0 )
• Conjugation
f * ( x, y )  F * (u ,v)

Properties of 2D FT (2)
• Symmetry
f ( x, y ) is real  F (u , v)  F (u ,v)
• Convolution
– Definition of convolution
f ( x, y )  g ( x, y )   f ( x   , y   ) g ( ,  )dd
– Convolution theory
f ( x, y )  g ( x, y )  F (u , v)G (u , v)
We will describe 2D convolution later!

Separability of 2D FT and Separable
Signal
• Separability of 2D FT
F2 { f ( x, y )}  Fy {Fx { f ( x, y )}}  Fx {Fy { f ( x, y )}}
– where Fx, Fy are 1D FT along x and y.
– one can do 1DFT for each row of original image, then
1D FT along each column of resulting image
• Separable Signal
– f(x,y) = fx(x)fy(y)
– F(u,v)
( ) = Fx((u)F ) y((v),
)
• where Fx(u) = Fx{fx(x)}, Fy(u) = Fy{fy(y)}
– For separable signal, one can simply compute two 1D
transforms!

Example 1
f ( x, y )  sin(3x) cos(5y )
f x ( x)  sin((3x) 
1
Fx (u )   (u  3 / 2)   (u  3 / 2) 
2j
Fy (v)   (v  5 / 2)   (v  5 / 2) 
1
f y ( y )  cos(5y ) 
2
F (u , v)  Fx(u ) Fy (v)
1  3 5 3 5 3 5 3 5 
   (u  , v  )   (u  , v  )   (u  , v  )   (u  , v  ) 
4j 2 2 2 2 2 2 2 2 

Example 2
1, | x | x0 , | y | y0
f ( x, y )  
 0, otherwise
F (u , v)  4 x0 y0 sinc(2 x0u ) sinc(2 y0 v)
x
2
u
x0 = 2
y0 = 1
y v
-1
1 1
-2
2
w/ logrithmic mapping
Rotation
• Let x  r cos  , y  r sin  , u   cos  , v   sin .
• 2D FT in polar coordinate (r (r, θ) and (ρ(ρ, Ø)
 2
F ( , )    f (r ,  )e  j 2 ( r cos  cos  r sin   sin  ) rdrd
0 0
  f (r ,  )e  j 2r cos(  )
rdrd
• Property
f (r ,   0 )  F ( ,  0 )

Example of Rotation

Fourier Transform For Discrete Time
Sequence (DTFT)
• One Dimensional DTFT
– f(n) is a 1D discrete time sequence
– Forward Transform
 F(u)) is
F( i periodic
i di iin u, with
ith period
i d
F (u )   f ( n )e
n  
 j 2un
of 1
– Inverse
I Transform
T f
1/ 2
f ( n)   F (u )e j 2un du
1 / 2

Properties unique for DTFT
• Periodicity
– F(u) = F(u+1)
– The FT of a discrete time sequence is only
considered for u є (-½
( ½ , ½),
½) and u = +½ is the
highest discrete frequency
• Symmetry for real sequences
f ( n)  f * ( n)  F (u )  F * (u )
 F (u )  F (u )
 F (u ) is symmetric

Example
1, n  0,1,..., N  1;
f ( n)  
 0, others
N 1
1  e  j 2uN sin 2u ( N / 2)
F (u )  e  j 2nu

1 e  j 2u
e  j ( N 1)u
sin 2u (1 / 2)
n 0
f(n)
0 N-1 n N=10
There are N/2 zeros in (0, ½], 1/N apart

Two Dimensional DTFT
• Let f(m,n) represent a 2D sequence
• Forward Transform
 
F (u , v)  
m  
 n  

f (m, n)e  j 2 ( mu  nv )
• Inverse Transform
1/ 2 1/ 2
f (m, n)    F (u , v)e j 2 ( mu  nv ) dudv
1 / 2 1 / 2
• Properties
– Periodicity, Shifting and Modulation, Energy
Conservation

Periodicity
 
F (u , v)  
m   n  
f (m, n)e  j 2 ( mu  nv )
• F(u,v) is periodic in u, v with period 1, i.e.,

for all integers k, l:
– F(u+k, v+l) = F(u, v)
• To see this consider
e  j 2 ( m ( u  k )  n ( v l ))
 e  j 2 ( mu  nv ) e  j 2 ( mk  nl )
 e  j 2 ( mu  nv )
In MATLAB, frequency scaling is such that 1 represents maximum freq u,v=1/2.
Illustration of Periodicity
u
Low frequencies
1.0
High frequencies
0.5
-1.0 -0.5 0 0.5 1.0 v

Fourier Transform Types
Low Pass High Pass Band Pass
u u u
0.5 0.5 0.5
v v v
-0.5 0.5 -0.5 0.5 -0.5 0.5
-0.5 -0.5 -0.5
Non-zero frequency components

Shifting and Modulation
• Shifting
 
F{ f (m  m0 , n  n0 )}  
m   n  
f (m  m0 , n  n0 )e  j 2 ( mu  nv )
 
k  m  m0 , l  n n 0  
k   l  
f (k , l )e  j 2 (( k  m0 )u  (l  n0 ) v )
 
 e  j 2 ( m0u  n0v ) 
k   l  
f (k , l )e  j 2 ( ku lv )
f (m  m0 , n  n0 )  e  j 2 ( m0u  n0v ) F (u , v)
• Modulation
j 2 ( mu0  nv0 )
e f (m, n)  F (u  u0 , v  v0 )
Energy Conservation
• Inner Product
 
 f , g  
m   n  
f (m, n) g * (m, n)
 
 f (m, n)   G * (u , v)e  j 2 ( mu  nv ) dudv 

 0.5 0.5

m   n  
 0.5 0.5 
   
      f (m, n)e  j 2 ( mu  nv ) G * (u , v)dudv
0.5 0.5
 0.5  0.5
 m   n   
0.5 0.5
  F (u , v)G * (u , v)dudv  F , G 
 0.5  0.5
• Energy Conservation
 

0 .5 0 .5
 
2 2
f (m, n)  F (u , v) dudv
 0 .5  0 .5
m   n  

Delta Function
• Fourier transform of a delta function
 
F (u , v)  
m   n  
 (m, n)e  j 2 ( mu  nv )  1
 (m, n)  1
• Inverse Fourier transform of a delta

function
0.5 0.5
f (m, n)     (u, v)e j 2 ( mu  nv ) dudv  1
 0 .5  0 .5
1   (u, v)

Example
m
1 2 1 f(m,n)
f (m, n)   0 0 0 
n
 1  2  1
F (u , v)  1e  j 2 ( 1*u 1*v )  2e  j 2 ( 1*u  0*v )  1e  j 2 ( 1*u 1*v )

 1e  j 2 (1*u 1*v )  2e  j 2 (1*u  0*v )  1e  j 2 (1*u 1*v )
 j 2 sin 2ue j 2v  j 4 sin 2u  j 2 sin 2ue  j 2v
 j 4 sin 2u (cos 2v  1)
Note: This signal
g is low p
pass in the horizontal direction,,
and band pass in the vertical direction.

Graph of F(u,v)
du = [-0.5:0.01:0.5];
20 d = [[-0.5:0.01:0.5];
dv 0 5 0 01 0 5]
Fu = abs(sin(2 * pi * du));
40 Fv = cos(2 * pi * dv);
F = 4 * Fu' * (Fv + 1);
60 Using MATLAB freqz2:
mesh(du,
( , dv,, F);
);
80 colorbar; f=[1,2,1;0,0,0;-1,-2,-1];
Imagesc(F); freqz2(f)
00 colormap(gray); truesize;
20 40 60 80 100
Linear Convolution
• Convolution of Continuous Signals
– 1D convolution
 
f ( x)  h( x)   f ( x   )h( )d   f ( )h( x  )d
 
• Equalities
f ( x)   ( x)  f ( x),
) f ( x)   ( x  x0 )  f ( x  x0 )
– 2D convolution
 
f ( x, y )  h ( x, y )    f ( x   , y   )h( ,  )dd
 
 
  f ( ,  )h(x   , y   )dd
 

Examples of 1D Convolution
f(x) f(α)h(x-α)
h(x-α)
1
0 x x-1 x α 0 x α
1
h(x) (1) 0 ≤ x < 1
f(α)h(x-α)
1 h(x-α)
0 x α α
1 x-1
1 x 0 x-1 1
(2) 1 ≤ x < 2
h(-α)
1 f(x)*h(x)
1
0 1 α x
x
1 2

Example of 2D Convolution
y
β h(x-α,y-β)β
f(x,y)
1 h(x-α,y-β) 1 y 1
y
y-1
1
1 x α α
1 x 1
x
y (1) 0<x≤1,
0<x≤1 0<y≤1 (2) 0<x≤1,
0<x≤1 1<y≤2
h(x,y) g(x,y)=x*y g(x,y)=x*(2-y)
1
1 x β β h(x-α,y-β)
h(x-α,y-β) y
1 1
y f(x,y)*h(x,y) y-1
y α α
2 1 1
x-1 x x-1 x
(3) 1<x≤2, 0<y≤1 (4) 1<x≤2, 1<y≤2

g(x,y)=(2-x)*y
( ) (2 )* g(x y)=(2 x)*(2
g(x,y)=(2-x) (2-y)
y)
2 x
Convolution of 1D Discrete Signals
• Definition of convolution
 
f ( n) * h( n)  
m  
f ( n  m) h( m)   f ( m) h( n  m)
m  
• The convolution can be considered as the weighted

average:
– sample n-m is multiplied by h(m)
• Filtering: f(n) is the signal, and h(n) is the filter
– Finite impulse
p response
p ((FIR)) filter
– Infinite impulse response (IIR) filter
• If the range of f(n) is (n0, n1), and the range of h(n) is
(m0, m1),) then the range of f(n)*h(n)
f(n) h(n) is (n0+m0, n1+m1)

Example of 1D Discrete Convolution
h(n-m)
f(n)
n-5 n 0 m
0 3 n
(a) n < 0, g(n) = 0
h(n)
h(n-m)
0 5 n
h(-m) n-5 0 n m
(b) 0 ≤ n ≤ 8, g(n) > 0
-5 0 m
h(n-m)
f(n)*h(n)
n n-5 0 m
(c) n > 8,
8 g(n) = 0
0 8 n

Convolution of 2D Discrete Signals
• Definition of convolution
 
f (m, n) * h(m, n)    f ( m  k , n  l ) h( k , l )
k   l  
 
   f ( k , l ) h( m  k , n  l )
k   l  
• Weighted average:
– Pixel (m-k,n-l) is weighted by h(k,l)
• Range
– If the range of f(m
f(m, n) is m0 ≤ m ≤ m1, n0 ≤ n ≤ n1
– If the range of h(m, n) is k0 ≤ m ≤ k1, l0 ≤ n ≤ l1,
– Then the range of f(m, n)*h(m, n) is
m0 + k0 ≤ m ≤ m1 + k1, n0 + l0 ≤ n ≤ n1 + l1

Example of 2D Discrete Convolution
m k
f(m,n) f(k,l)h(-1-k, -2-l)
1 1
n l
k
m f(k l)h(2 k 1 l)
f(k,l)h(2-k,1-l)
h(m,n) 1
1
l
n
f(m,n)*h(m,n) k
k
h(-k,-l) 1
1 2
3
l l

• Go through an example in class for an
arbitrary 3x3 (non-symmetric) filter

Separable Filtering
• A filter is separable if h(x, y)=hx(x)hy(y) or
h(m n)=hx(m)hy(n).
h(m, (n)
• Matrix representation
H  hx hyT
– Where hx and hy are column vectors

• Example
1 0  1  1 
H  2 0  2  21 0  1  hx hTy
1 0  1  1 

DTFT of Separable Filter
• Previous example
1 0  1  1 
H  2 0  2  21 0  1  hx hTy
1 0  1  1 
• Recognizing that the filter is separable
1 0  1    Fy (v)  1e j 2v 0  (1)e  j 2v  2 j sin 2v

1 2 1    Fx(u )  1e j 2u 2 e  j 2u  2  2 cos 2u
F (u, v)  Fx(u ) Fy (v)  4 j (1  cos 2u ) sin 2v

Separable Filtering
• If H(m,n) is separable, the 2D convolution can
be accomplished by first applying 1D filtering
along each row using hy(n), and then applying
1D filtering to the intermediate result along each
column using the filter hx(n)
• Proof f (m, n) * h(m, n)   f (m  k , n  l )hx (k )hy (l )
k l
 
    f (m  k , n  l )hy (l ) hx (k )
k  l 
  g y (m  k , n)hx (k )
k
 ( f (m, n) * hy (n)) * hx (m)

• Go through an example of filtering using
separable filter in class

Computation Cost
• Suppose
– The size of the image is M*N
M N.
– The size of the filter is K*L.
• Non-separable
N bl filt
filtering
i
– Each pixel: K*L mul; K*L – 1 add.
– Total: M*N*K*L mul; M*N*(K*L-1) add.
– When M=N, K=L
• M2K2 mul + M2(K2-1) add.

Computation Cost
• Separable:
– Each pixel in a row: L mul; L-1
L 1 add.
– Each row: N*L mul; N*(L-1) add.
– M rows: M*N*L mul; M*N*(L-1) add.
– Each pixel in a column: K mul; K-1 add.
– Each column: M*K mul; M*(K-1) add.
– N columns: N*M*K mul; N*M*(K-1) add.
– Total: M*N*(K+L) mul; M*N*(K+L-2) add.
– When M M=N,
N K K=L:
L
• 2M2K mul; 2M2(K-1) add.
• Significant savings if K (and L) is large!

Boundary Treatment
• When assuming the
image values outside a
given image are zero, the
filtered values in the
boundary are affected by
assumed zero values 200 200 205 203 203
adversely
200 200 205 203 203
• For
F better
b tt results,
lt use
symmetric extension 195 195 200 200 200
((mirror image)
g ) to fill the 200 200 205 195 195
outside image values
200 200 205 195 195
Actual image pixels Extended pixels

Computer implementation of convolution
• Boundary treatment
– An image of size MxN convolving with a filter of size KxL will yield an
image of size (M+K-1,N+L-1)
– If the filter is symmetric, the convolved image should have extra
boundary of thickness K/2 on each side
– Filtered values in the outer boundary of K/2 pixels depend on the
extended pixel values
– For simplicity, we can ignore the boundary problem, and process only
the inner rows and columns of the image, leaving the outer K/2 rows
and L/2 columns unchanged (if filter is low-pass) or as zero (if filter is
high-pass)
• R
Renormalization:
li ti
– The filtered value may not be in the range of (0,255) and may not be
integers
– Use two-pass
p operation
p
• First pass: save directly filtered value in an intermediate floating-point array
• Second pass: find minimum and maximum values of the intermediate image,
renormalize to (0,255) and rounding to integers
– F= round((F1-fmin)*255/(fmax-fmin))
• To
T display
di l ththe unnormalized
li d iimage di
directly,
tl use “i
“imagesc(( )” function
f ti

Sample Matlab Program
% readin bmp file % define 2D filter
x = imread('lena.bmp'); h = ones(5,5)/25;
[xh xw] = size(x); [hh hw] = size(h);
y = double(x); hhh = (hh - 1) / 2;
hhw = (hw- 1) / 2;
% linear convolution, assuming the filter is non-separable (although this example filter is separable)
z = y; %or z=zeros(xh
z=zeros(xh,xw)xw) if not low
low-pass
pass filter
for m = hhh + 1:xh - hhh,
%skip first and last hhh rows to avoid boundary problems
for n = hhw + 1:xw - hhw,
%skip first and last hhw columns to avoid boundary problems
tmpy = 0;
for k = -hhh:hhh,
for l = -hhw:hhw,
tmpv = tmpv + y(m - k,n – l)* h(k + hhh + 1, l + hhw + 1);
%h(0 0) is stored in h(hhh+1
%h(0,0) h(hhh+1,hhw+1)
hhw+1)
end
end
z(m, n) = tmpv;
%for more efficient matlab coding, you can replace the above loop with
z(m,n)=sum(sum(y(m-hhh:m+hhh,n-hhw:n+hhw).*h))
end
end
Results
1 1 1 1 1
1 1 1 1 1
1 
h 1 1 1 1 1
25  
1 1 1 1 1
1 1 1 1 1
f(m,n) g(m,n)

• What if the filter is symmetric? Can you
write a different MATLAB code that has
reduced computation time?
• MATLAB built
built-in
in functions
– 1D filtering: conv
– 2D filtering: conv2
– Computing DTFT: freqz, freqz2

Convolution Theorem
• Convolution Theorem
f *h  F  H, f h  F *H
• Proof g (m, n)  f (m, n) * h(m, n)   f (m  k , n  l )h(k , l )
k l
FT on both sides
G (u , v)   f (m  k , n  l )h(k , l )e  j 2 ( mu  nv )
m , n k ,l
  f (m  k , n  l )e  j 2 (( m  k )u  ( n l ) v ) h(k , l )e  j 2 ( ku lv )
m , n k ,l
  f (m  k , n  l )e  j 2 (( m  k )u  ( n l ) v )  h(k , l )e  j 2 ( ku lv )
m,n k ,l
  f (m' , n' )e  j 2 ( m 'u  n 'v )  h(k , l )e  j 2 ( ku lv )

m ', n ' k ,l
 F (u , v)  H (u , v)

Explanation of Convolution
in the Frequency Domain
h(x)
f(x) g(x)=f(x)*h(x)
-∆/2 ∆/2 x x
-∆/4
/ ∆/4 x
F(u)
( ) G(u)=F(u)H(u)
H(u)
u -2/∆ 2/∆ u u
-1/∆ 1/∆ -1/∆ 1/∆

Example
• Given a 2D filter, show the frequency response. Apply to a given
image, show original image and filtered image in pixel and freq.
domain
1 1 1 1 1
1 1 1 1 1
1 
h 1 1 1 1 1
25  
1 1 1 1 1
1 1 1 1 1

1 1 1 1 1
1 1 1 1 1
1 
h 1 1 1 1 1
25  
1 1 1 1 1
1 1 1 1 1

Matlab Program Used
x = imread('lena256.bmp');
figure(1); imshow(x);
f = double(x);
ff=abs(fft2(f));
figure(2); imagesc(fftshift(log(ff+1))); colormap(gray);truesize;axis off;
h = ones(5,5)/9;
hf=abs(freqz2(h));
figure(3);imagesc((log(hf+1)));colormap(gray);truesize;axis off;
y = conv2(f, h);
figure(4);imagesc(y);colormap(gray);truesize;axis off;
yf=abs(fft2(y));
figure(5);imagesc(fftshift(log(yf+1)));colormap(gray);truesize;axis off;

1 1 1
H1   0 0 0 
1
3
 1  1  1

Filter Design
• Given desired frequency response of the filter
Hd(u,v)
• Perform an inverse transform to obtain the
desired impulse response hd(m,n).
• When Hd(u,v) is band limited, hd(m,n) is infinitely
long
• Truncate hd(m,n)
(m n) to yield a realizable h(m
h(m,n)
n)
• Will distort the original frequency response
• Better approach is to apply a well designed
window function over the specified frequency
response.

Use of Window Function in Filter Design
Hd(u) H (u) Hw(u)
u u u
hd(x) window h (x) hw (x)

function
w(x)
… …
x x x
x
Hamming window w( x)  0.54  0.46 cos(2 ), 0  x  X
X

Homework
1. Let sin(2f c x) sin(2f c y )
f ( x, y )  sin 2f 0 ( x  y ), h( x, y ) 
 2 xy
Find
Fi d the
h convolved
l d signal
i l g(x,
( y)) = f(x,
f( y)) * h(x,
h( y)) ffor the
h ffollowing
ll i
two cases:
a) f0/2 < fc < f0; and b) f0 < fc < 2f0.
Hint: do the filtering in the frequency domain. Explain what
happened by sketching the original signal, the filter, the convolution
process and the convolved signal in the frequency domain.
2. Repeat the previous problem for
 2 1 1
 fc ,   {x, y} 
h ( x, y )   2 fc 2 fc
 0, otherwise

Homework (cntd)
3. For the three filters given below (assuming the origin is at the center):
a) find their Fourier transforms (2D DTFT);
b) sketch the magnitudes of the Fourier transforms
transforms. You should sketch by
hand the DTFT as a function of u, when v=0 and when v=1/2; also as a
function of v, when u=0 or ½. Also please plot the DTFT as a function of
both u and v, using g Matlab pplotting
g function.
c) Compare the functions of the three filters.
In your calculation, you should make use of the separable property of the filter
whenever appropriate. If necessary, split the filter into several additive
terms such that each term can be calculated more efficiently.
1 1 1  1 2 1    1  2  1
H1  1 1 1
1 1   1  
H2   2 12  2 H3   2 12  2
9 24   24  
1 1 1  1  2 1    1  2  1 

Programming Assignment
1. Write a Matlab or C-program for implementing filtering of a gray scale
image. Your program should allow you to specify the filter with an
arbitrary size (in the range of k0->k1, l0->l1), read in a gray scale image,
and save the filtered image into another file
file. For simplicity
simplicity, ignore the
boundary effect. That is, do not compute the filtered values for pixels
residing on the image boundary. If the filter has a size of M x N, the
boundary pixels are those in the top and bottom M/2 rows, and left and
right
g most N/2 columns. You should p properly
p y normalize the filtered image g
so that the resulting image values can be saved as 8-bit unsigned
characters. Apply the filters given in the previous problem to a test image.
Observe on the effect of these filters on your image. Note: you cannot
use the MATLAB conv2( ) function. In your report, include your MATLAB
code the original test image and the images obtained with the three
code,
filters. Write down your observation of the effect of the filters.
2. Optional: Now write a convolution program assuming the filter is
separable. Your program should allow you to specify the horizontal and
vertical filters,
filters and call a 1D convolution sub-program
sub program to accomplish the
2D convolution. Note: you cannot use the MATLAB conv( ) function.
3. Learn the various options of conv2( ) function in MATLAB using online
help manual.

Reading
• Gonzalez and Woods, Sec. 4.1 and 4.2,
4 3
4., 3.4,
4 33.5,
5 33.5
5

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2-D Fourier Transforms

With contribution from Zhu Liu, Onur Guleryuz, and

Yao Wang, NYU-Poly EL5123: Fourier Transform 2

Yao Wang, NYU-Poly EL5123: Fourier Transform 3

Yao Wang, NYU-Poly EL5123: Fourier Transform 4

Yao Wang, NYU-Poly EL5123: Fourier Transform 5

Yao Wang, NYU-Poly EL5123: Fourier Transform 6

Derive the last transform pair in class

Yao Wang, NYU-Poly EL5123: Fourier Transform 7

Yao Wang, NYU-Poly EL5123: Fourier Transform 9

Yao Wang, NYU-Poly EL5123: Fourier Transform 10

Yao Wang, NYU-Poly EL5123: Fourier Transform 11

Yao Wang, NYU-Poly EL5123: Fourier Transform 12

 ( x, y; u , v)  e j ( 2ux  2vyy )  e j 2ux e j 2vyy , u , v   , .

Yao Wang, NYU-Poly EL5123: Fourier Transform 13

F {sin 4x}   sin 4xe  j 2 (ux  vy ) dxdy

  sin 4xe  j 2ux dx  e  j 2vy dy

Yao Wang, NYU-Poly EL5123: Fourier Transform 14

  e j 2x e  j 2ux dx  e j 3y e  j 2yv dy

Yao Wang, NYU-Poly EL5123: Fourier Transform 15

sin( 2f x x  2f y y ) 

Yao Wang, NYU-Poly EL5123: Fourier Transform 16

Yao Wang, NYU-Poly EL5123: Fourier Transform 17

Yao Wang, NYU-Poly EL5123: Fourier Transform 18

Yao Wang, NYU-Poly EL5123: Fourier Transform 19

Yao Wang, NYU-Poly EL5123: Fourier Transform 20

Yao Wang, NYU-Poly EL5123: Fourier Transform 22

Yao Wang, NYU-Poly EL5123: Fourier Transform 23

Yao Wang, NYU-Poly EL5123: Fourier Transform 24

Yao Wang, NYU-Poly EL5123: Fourier Transform 25

There are N/2 zeros in (0, ½], 1/N apart

Yao Wang, NYU-Poly EL5123: Fourier Transform 27

• F(u,v) is periodic in u, v with period 1, i.e.,

-1.0 -0.5 0 0.5 1.0 v

Yao Wang, NYU-Poly EL5123: Fourier Transform 29

Low Pass High Pass Band Pass

-0.5 -0.5 -0.5

Non-zero frequency components

Yao Wang, NYU-Poly EL5123: Fourier Transform 30

 f (m, n)   G * (u , v)e  j 2 ( mu  nv ) dudv 

Yao Wang, NYU-Poly EL5123: Fourier Transform 32

• Inverse Fourier transform of a delta

Yao Wang, NYU-Poly EL5123: Fourier Transform 33

F (u , v)  1e  j 2 ( 1*u 1*v )  2e  j 2 ( 1*u  0*v )  1e  j 2 ( 1*u 1*v )

Yao Wang, NYU-Poly EL5123: Fourier Transform 34

Yao Wang, NYU-Poly EL5123: Fourier Transform 36

Yao Wang, NYU-Poly EL5123: Fourier Transform 37

(3) 1<x≤2, 0<y≤1 (4) 1<x≤2, 1<y≤2

• The convolution can be considered as the weighted

Yao Wang, NYU-Poly EL5123: Fourier Transform 39

Yao Wang, NYU-Poly EL5123: Fourier Transform 40

Yao Wang, NYU-Poly EL5123: Fourier Transform 41

Yao Wang, NYU-Poly EL5123: Fourier Transform 42

Yao Wang, NYU-Poly EL5123: Fourier Transform 43

– Where hx and hy are column vectors

Yao Wang, NYU-Poly EL5123: Fourier Transform 44

• Recognizing that the filter is separable

1 0  1    Fy (v)  1e j 2v 0  (1)e  j 2v  2 j sin 2v

Yao Wang, NYU-Poly EL5123: Fourier Transform 45

 ( f (m, n) * hy (n)) * hx (m)

Yao Wang, NYU-Poly EL5123: Fourier Transform 46

Yao Wang, NYU-Poly EL5123: Fourier Transform 47

Yao Wang, NYU-Poly EL5123: Fourier Transform 48

F (u , v)  1e  j 2 ( 1u 1v )  2e  j 2 ( 1u  0v )  1e  j 2 ( 1u 1v )