Digital Image Processing Filtering in The Frequency Domain

Digital Image Processing
Chapter 4
Filtering in the Frequency Domain
4. Filtering in the Frequency Domain

1. Background
2. Preliminary Concepts
3. Sampling and the Fourier Transform of Sampled Functions
4. The Discrete Fourier Transform of One Variable
5. Extension to Functions of Two Variables
6. Some Properties of the 2-D Discrete Fourier Transform
7. The Basics of Filtering in the Frequency Domain
8. Image Smoothing using Frequency Domain Filters
9. Image Sharpening using Frequency Domain Filters
10. Selective Filtering
© 1992–2008 R. C. Gonzalez & R. E. Woods

Chapter 4
Filtering in the
Frequency Domain
4.1 Background
Fourier Series and Transform
Jean-Baptiste Fourier (1768)

•Any periodic function can be expressed as a
weighted sum of sines and/or cosines (Fourier
series)
•Other functions can be expressed as an integral
of sines and/or cosines multiplied by a weighing
function (Fourier Transform)
•Functions can be recovered by the inverse
operation with no loss of information
• Applications to Image Enhancement

Chapter 4
2. Preliminary Concepts
1. Fourier Series
If f(t) is a periodic function of a continuous variable t, with period T
Where:

Chapter 4
4.2.3 Impulses and their Shifting Property
Unit impulse of a continuous variable t located at t=0 :
and
Shifting property
:
(if f(t) continuous at t=0 )

Chapter 4
Unit discrete impulse located at x=0 :
Sifting property :

Digital Image Processing Chapter 4
Filtering in the Frequency
Domain
Impulse train : sum of infinitely many periodic impulses T units apart:

Chapter 4
4.2.4 The Fourier Transform of Functions of One Continuous Variable
Fourier Transform of a continuous function f(t) of a continuous variable t :
Inverse Fourier Transform:

Chapter 4
Domain
Example :

Chapter 4
Domain
Example 2 : Fourier Transform of a unit impulse located at the origin:
Fourier Transform of a unit impulse located at t = t0 :

Chapter 4
Example 2 : Fourier Transform S() of an impulse train with period T :

Periodic function with period T =>
Where :
=>
Also an impulse train, with period 1/T

Chapter 4
4.2.5 Convolution
Convolution of functions f(t) and h(t), of one continuous variable t :
Fourier Transform pairs:

Chapter 4
4.3 Sampling and the Fourier Transform of Sampled Functions
4.3.1 Sampling
Model of the sampled function:

multiplication of f(t) by a sampling
function equal to a train of impulses T
units apart

Chapter 4
4.3.2 The Fourier Transform of Sampled Functions
Infinite, periodic sequence of copies of F(), continuous

Separation between copies determined by 1/T

Filtering in the
Frequency Domain
4.3.3 The Sampling Theorem

Chapter 4
Filtering in the
Frequency Domain
A function f(t) whose Fourier transform is zero

for values of frequencies outside a finite
interval (band) [- max, max] about the origin is
called a band-limited function
Sufficient separation guaranteed if:
Sampling Theorem:
A continuous, band-limited function can be recovered completely
from a set of its samples if the samples are acquired at a rate
exceeding twice the highest frequency content of the function
NB: Sampling at: Nyquist rate

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Chapter 4
Domain
=> Recover f(t) using the inverse FT:
Example: ideal lowpass filter

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Chapter 4
Filtering in the
Frequency Domain
4.3.4 Aliasing
Effect of under-sampling a function

Transform corrupted by frequencies
from adjacent periods
NB: the effect of aliasing can be reduced

by smoothing the input function to
attenuate its higher frequencies: anti-
aliasing.
Has to be done before the sampling

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Chapter 4
4.3.4 Aliasing
Illustration: sampling a sine wave of period 2s

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Chapter 4
4.3.5 Function Reconstruction (Recovery) from Sampled Data
Recovery expressed in the spatial domain:

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Chapter 4
4. The Discrete Fourier Transform (DFT) of One Variable
1. Obtaining the DFT from the Continuous Transform of a Sampled Function
fn : discrete function

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Chapter 4
1.Obtaining the DFT from the Continuous Transform of a Sampled Function
Given a set {f(x)} of M samples of f(t) the DFT is of f(x) is:
Inverse Discrete Fourier Transform (IDFT):

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Chapter 4
1.Obtaining the DFT from the Continuous Transform of a Sampled Function
Both forward and inverse discrete transforms are infinitely periodic, with period M
Where k is an integer
Discrete equivalent of the convolution:

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Chapter 4
4.4 The Discrete Fourier Transform (DFT) of One Variable
4.4.2 Relationship between the Sampling and Frequency Intervals
If f(x) consists of M samples of a function f(t) taken T units apart, the duration of
the record comprising the set {f(x)} is:
T = M T
The corresponding spacing in the discrete frequency domain is:

u = 1 / (M T) = 1/T
The entire frequency range spanned by the M components in the DFT is:
M u = 1/ T

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Chapter 4
5. Extension to Function of Two Variables
1.The 2-D impulse and its Sifting Property
Impulse of two continuous variables t and z :
Impulse of two continuous variables t and z :

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Chapter 4
1.The 2-D impulse and its Sifting Property
Sifting property:

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Chapter 4
1.The 2-D impulse and its Sifting Property 2-
D discrete impulse:
Sifting property:

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Chapter 4
4.5 Extension to Function of Two Variables
4.5.2 The 2-D Continuous Fourier Transform Pair
f(t,z) continuous function of two continuous variables t and z, the 2-D continuous
Fourier transform pair is given by:
and

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Example: Obtaining the 2-D Fourier transform of a simple function

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Chapter 4
4.5.3 Two-Dimensional Sampling and the 2-D Sampling Theorem
Sampling in 2-D can be modeled using the sampling function (2-D impulse train):
Multiplying f(t,z) by yields the sampled function

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Chapter 4
f(t,z) is said to be band-limited if its Fourier transform is 0 outside of a rectangle

[- max, max] and [- max, max]
2-D sampling theorem:
A continuous, band-limited function f(t,z) can be recovered with no error from a
set of its sample if the sampling intervals are
and

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Chapter 4
4.5.4 Aliasing in Images

Example: sampling checkerboards whose squares are of size 16x6 pixels
Effects of aliasing can be reduced by slightly defocusing the scene to be digitized (attenuation of
high frequencies), before the image is sampled : anti-aliasing

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Effects of aliasing generally are worsened when the size of a digital image is reduced
Scaling: 50% Blurring prior to Scaling: 50%

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Chapter 4
Moiré patterns
In optics: beat patterns produced between two gratings of approximately equal spacing

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Chapter 4
4.5.5 The 2-D Discrete Fourier Transform and its Inverse
2-D Discrete Fourier Transform (DFT) of a digital image f(x,y) of size MxN:
Inverse Discrete Fourier Transform (IDFT):

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Chapter 4
6. Some Properties of the 2-D Discrete Fourier Transform
1. Relationships between Spatial and Frequency Domains
If T and Z are the separations between samples, the separations between the
corresponding discrete, frequency domain variables are:
and

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Chapter 4
4.6.2 Translation and Rotation
Translation:
and
Rotation (polar coordinates):

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Chapter 4
4.6.3 Periodicity
The 2-D Fourier Transform and its inverse are infinitely periodic in both directions:
and
where k1 and k2 are integers

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Chapter 4
Filtering in the
Frequency Domain
4.6.3 Periodicity
1-D Spectrum
Shift the data so that the origin,

F(0), is located at u0
If u0 = M/2
F(0) at the centre of the interval [0, M-1]

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Chapter 4
4.6.3 Periodicity
2-D Spectrum
Shift the data so that the origin, F(0,0), is

at the centre of the frequency rectangle
defined by [0, M-1] and [0, N-1]

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Domain
FT Spectrum
Centered
FT Spectrum

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Chapter 4
Domain
(Reminder)

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Chapter 4
4.6.4 Symmetry Properties
Example:
If f(x,y) is a real function,
its Fourier transform is
conjugate symmetric:
If f(x,y) is a imaginary, its Fourier transform is conjugate antisymmetric:

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4.6.4 Symmetry Properties

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Chapter 4
4.6.5 Fourier Spectrum and Phase Angle
The 2-D DFT can be expressed in polar form:
Where the magnitude
is called the Fourier (or frequency) spectrum, and
is the phase angle
Power spectrum:
NB: R and I are the real and imaginary parts of F(u,v)

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Chapter 4
4.6.5 Fourier Spectrum and Phase Angle
and
=>
Where denotes
the average value of f
MN usually large => |F(0,0)| typically is the largest component of the spectrum

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Domain
FT Spectrum
FT Spectrum
(centered)
FT Spectrum
(centered + log)

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Chapter 4
Domain
Original Image FT Spectrum
Spectrum is insensitive to
translation
But rotates by the same
angle
as the rotated image

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Domain
Phase angle images:

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Chapter 4
Domain
Phase angle
Reconstruction
using phase angle only
Reconstruction using Reconstruction using:

spectrum only • Right Spectrum
• Wrong Phase

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Chapter 4
4.6.6 The 2-D Convolution Theorem
2-D circular convolution :
2-D convolution theorem :
and conversely:

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Chapter 4
Domain
Data from adjacent periods produce

wraparound error
=> Need to append zeros to both
functions
In 2-D, padd the two images array

of size
MxN by zeros
Padded images of size PxQ, with:
P  2M-1
and
Q  2N-1

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4.6.7 Summary of 2-D Discrete Fourier Transform Properties

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Chapter 4
7. The Basics of Filtering in the Frequency Domain
1. Additional Characteristics of the Frequency Domain
FT Spectrum

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Chapter 4
4.7.2 Frequency Domain Filtering Fundamentals
Given a digital image f(x,y) of size MxN, the basic filtering equation is:
NB: product = array

multiplication
Filtered (output) image Filter function DFT if the input image
(or filter transfer
function)
NB: For simplification, use functions H(u,v)

that are centered symmetric about their
centre
+ centre F(u,v) multiplying f(x,y) by (-1)x+y

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Domain
Lowpass filter highpass filter

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Domain
Gaussian lowpass filter Gaussian lowpass filter

Without padding With padding

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Domain
Periodicity Periodicity
without padding without padding

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Chapter 4
3. Steps for Filtering in the Frequency Domain
1. Given an input image f(x,y) of size MxN, obtain padding parameters P and
Q. Typically, P=2M and Q=2N.
2. Form a padded image fp(x,y) of size PxQ by appending the necessary number
of zeros to f(x,y).
3. Multiply fp(x,y) by (-1)x+y to centre its transform.
4. Compute the DFT, F(u,v), of the image from step 3.
5. Generate a real, symmetric filter function, H(u,v), of size PxQ with centre at
coordinates (P/2,Q/2). Form the product G(u,v)=H(u,v)F(u,v) using array
multiplication.
6. Obtain the processed image:
7. Obtain the final processed result, g(x,y), by extracting the MxN region from
the top, left quadrant of gp(x,y)

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Chapter 4
Domain
4.7.3 Steps for Filtering in the Frequency Domain
2) Padding 3) (-1)x+y
1)
4) DFT
5) Filter H
6) Filtered
image (IDFT) 7) Final
Result
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Chapter 4
8. Image Smoothing using Frequency Domain Filters

NB: all filter functions are assumed to be discrete functions of size PxQ
1. Ideal Lowpass Filters

Ideal Lowpass Filter (ILPF) = 2-D lowpass filter that passes without attenuation all
frequencies within a circle of radius D0 from the origin and “cuts off” all frequencies
outside this circle
Where:
And D(u,v) is the distance between a point (u,v) and the centre of the frequency rectangle:

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Chapter 4
4.8.1 Ideal Lowpass Filters
The point of transition between H(u,v) = 1 and H(u,v) = 0 is called the cutoff
frequency
NB: an ILPF cannot be realized with real electronic components

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Domain
r = 10
4.8.1 Ideal Lowpass Filters
Example:
r = 30
r = 60
r = 160 r = 460

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Domain
Explaining the blurring and “ringing” properties of ILPFs

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Chapter 4
4.8.2 Butterworth Lowpass Filters
Transfer function of a Butterworth lowpass filter (BLPF) of order n and with

cutoff frequency at a distance D0 from the origin:

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Chapter 4
4.8.3 Gaussian Lowpass Filters
Gaussian Lowpass Filters (GLPFs) in two-dimensions:
( = measure of spread about the centre)
(D0 = cutoff frequency)

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4.8.3 Gaussian Lowpass Filters

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Chapter 4
Domain

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Chapter 4
4.8.4 Additional Examples of Lowpass Filtering
Character recognition (machine perception):
Blurring to fill “visual gaps” => help reading broken characters

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Chapter 4
Printing and publishing industry: “cosmetic” processing
GLPF
(Do=80)
Original
Image
GLPF
(Do=100)

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Chapter 4
4.9 Image Sharpening using Frequency Domain Filters
Highpass filtering: attenuation of the high-frequency components of the Fourier

transform of the image
As before :
• Radially symmetric filters
• All filter functions are assumed to be discrete functions of size PxQ
A highpass HHP filter can be obtained from a given lowpass HLP filter by:

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Chapter 4
4.9.1 Ideal Highpass Filters
A 2-D Ideal Highpass Filter (IHPF) is defined as:

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Domain
Ideal Highpass Filter:
Butterworth Highpass Filter:
Gaussian Highpass Filter:

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Domain
Ideal Butterworth Gaussian

Highpass Filter Highpass Filter Highpass Filter

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Chapter 4
4.9.1 Ideal Highpass Filters
Do = 30 Do = 60 Do = 160

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Chapter 4
4.9.2 Butterworth Highpass Filters
A 2-D Butterworth Highpass Filter (BHPF) of order n and cutoff frequency D0 is

defined as:

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Chapter 4
4.9.2 Butterworth Highpass Filters
Do = 30 Do = 60 Do = 160

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Chapter 4
4.9.3 Gaussian Highpass Filters
The transfer function of the Gaussian Highpass Filter (GHPF) with cutoff frequency
locus at a distance D0 from the centre of the frequency rectangle is defined as:

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Chapter 4
4.9.3 Gaussian Highpass Filters
Do = 30 Do = 60 Do = 160

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Chapter 4
Domain
0
1

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Chapter 4
Domain
Example: using highpass filtering and thresholding for image enhancement
Highpass filtering
Thresholding

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Chapter 4
4.9.4 The Laplacian in the Frequency Domain
Or, with respect to the centre of the frequency rectangle:
The Laplacian image is obtained by:
Enchancement of the image is achieved using (H(u,v) negative):

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Chapter 4
4.9.4 The Laplacian in the Frequency Domain
 Introduction of large scaling factors

 Practical solution: normalize f(x,y) to the range [0,1] before computing the DFT,
and divide by its maximum value
© 1992–2008 R. C. Gonzal ez & R. E. Woods

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Chapter 4
4.9.5 Unsharp Masking, Highboost Filtering and High-Frequency-Emphasis Filtering
with
Smoothed image Lowpass Filter
output image: • k=1 => unsharp masking

• k>1 => highboost filtering

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Chapter 4
Expressed in terms of frequency domain computations:
Lowpass filter:
Highpass filter:
High-frequency-
emphasis filter
More general formulation:
Where: gives controls of the offset from the origin

controls the contribution of high frequencies

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Chapter 4
Gaussian highpass
filtering
High-frequency Histogram
emphasis filtering Equalisation

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Chapter 4
10. Selective Filtering

1. Bandreject and Bandpass Filters
A bandpass filter is obtained from a bandreject filter as:

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Chapter 4
4.10.1 Bandreject and Bandpass Filters

Example: Bandreject Gaussian filter
Bandreject Bandpass

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Chapter 4
4.10.2 Notch Filters
Reject (or pass) frequencies in a predefined neighbourhood about the centre of the
frequency rectangle
Constructed as products of highpass filters whose centres have been translated to
the centres of the notches
centre at centre at
=> Distances computations:

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Chapter 4
4.10.2 Notch Filters
Example: Butterworth notch reject filter of order n, containing 3 notch pairs:
A Notch Pass filter (NP) is obtained from a Notch Reject filter (NR) using:

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Domain
Newspaper image FT Spectrum
Butterworth notch
reject filter Filtered image
multiplied by FT

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Domain
FT Spectrum
Vertical
notch reject
filter
Filtered image
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Chapter 4
11. Implementation
1. Separability of the 2-D DFT
The 2-D DFT is separable into 1-D transforms:
Where:
= 1-DFT of a row of f(x,y)
The 2-D DFT of f(x,y) can be obtained by computing the 1-D transform of each row of
f(x,y) and then computig the 1-D transform along each column of the result

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Chapter 4
4.11 Implementation
4.11.2 Computing the IDFT Using a DFT Algorithm
=> = DFT of
 To compute the IDFT :

Compute the 2-D forward DFT of
Take the complex conjugate and multiply the result by 1/MN
NB: when f(x,y) is real :

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Chapter 4
4.11.3 The Fast Fourier Transform (FFT)
where:
M assumed to be =>
=>
=>

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Chapter 4
4.11.3 The Fast Fourier Transform (FFT)
• Direct implementation: on the order of (MN)2 summations and additions required

• FFT implementation: order of (MN log2 MN )

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Chapter 4
Glossary
• FT = Fourier Transform
• DFT = Discrete Fourier Transform
• IDFT = Inverse Discrete Fourier Transform
• FFT = Fast Fourier Transform
• ILPF (IHPF) = Ideal Lowpass (Highpass) Filter
• BLPF (BHPF) = Butterworth Lowpass (Highpass) Filter
• GLPF (GHPF) = Gaussian Lowpass (Highpass) Filter
• BP = Bandpass
• BR = Bandreject
• NP = Notch Pass
• NR = Notch Reject

Digital Image Processing Filtering in The Frequency Domain

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Digital Image Processing

4. Filtering in the Frequency Domain

© 1992–2008 R. C. Gonzalez & R. E. Woods

Fourier Series and Transform

Jean-Baptiste Fourier (1768)

© 1992–2008 R. C. Gonzalez & R. E. Woods

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.2.3 Impulses and their Shifting Property

Unit impulse of a continuous variable t located at t=0 :

(if f(t) continuous at t=0 )

© 1992–2008 R. C. Gonzalez & R. E. Woods

Unit discrete impulse located at x=0 :

© 1992–2008 R. C. Gonzalez & R. E. Woods

Impulse train : sum of infinitely many periodic impulses T units apart:

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.2.4 The Fourier Transform of Functions of One Continuous Variable

Fourier Transform of a continuous function f(t) of a continuous variable t :

Inverse Fourier Transform:

© 1992–2008 R. C. Gonzalez & R. E. Woods

© 1992–2008 R. C. Gonzalez & R. E. Woods

Example 2 : Fourier Transform of a unit impulse located at the origin:

Fourier Transform of a unit impulse located at t = t0 :

© 1992–2008 R. C. Gonzalez & R. E. Woods

Example 2 : Fourier Transform S() of an impulse train with period T :

Also an impulse train, with period 1/T

© 1992–2008 R. C. Gonzalez & R. E. Woods

Fourier Transform pairs:

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.3 Sampling and the Fourier Transform of Sampled Functions

Model of the sampled function:

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.3.2 The Fourier Transform of Sampled Functions

Infinite, periodic sequence of copies of F(), continuous

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.3.3 The Sampling Theorem

© 1992–2008 R. C. Gonzalez & R. E. Woods

A function f(t) whose Fourier transform is zero

NB: Sampling at: Nyquist rate

© 1992–2008 R. C. Gonzalez & R. E. Woods

=> Recover f(t) using the inverse FT:

Example: ideal lowpass filter

© 1992–2008 R. C. Gonzalez & R. E. Woods

Effect of under-sampling a function

NB: the effect of aliasing can be reduced

© 1992–2008 R. C. Gonzalez & R. E. Woods

Illustration: sampling a sine wave of period 2s

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.3.5 Function Reconstruction (Recovery) from Sampled Data

Recovery expressed in the spatial domain:

© 1992–2008 R. C. Gonzalez & R. E. Woods

4. The Discrete Fourier Transform (DFT) of One Variable

1. Obtaining the DFT from the Continuous Transform of a Sampled Function

© 1992–2008 R. C. Gonzalez & R. E. Woods

4. The Discrete Fourier Transform (DFT) of One Variable

1.Obtaining the DFT from the Continuous Transform of a Sampled Function

Given a set {f(x)} of M samples of f(t) the DFT is of f(x) is:

Inverse Discrete Fourier Transform (IDFT):

© 1992–2008 R. C. Gonzalez & R. E. Woods

4. The Discrete Fourier Transform (DFT) of One Variable

1.Obtaining the DFT from the Continuous Transform of a Sampled Function

Discrete equivalent of the convolution:

© 1992–2008 R. C. Gonzalez & R. E. Woods

4.4 The Discrete Fourier Transform (DFT) of One Variable