EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Filtering Images in The
Frequency Domain
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Treating Images in the Fourier Domain:
f(x,y)
Pixel Domain
h(x,y)
g(x,y)
g ( x, y) f ( x, y) h( x, y)
Freq. Domain G(x , y ) F (x , y ) H (x , y )
Convolution
Multiplication
The Convolution Property of the Fourier Transform
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Filter Types:
Ideal Low-pass Filters:
1
H ( x , y )
Cutoff Frequency
Note Undesirable Ringing Effects:
x2 y2 c
else
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Filter Types:
Other Ideal Filters:
Highpass
Bandpass
Lowpass
All ideal filters suffer from the ringing (Gibbs) phenomenon
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Alternatives to Ideal Filters:
Butterworth Filters:
H ( x , y )
1
x 2 y 2
1
2
2n
Gaussian Filters:
H ( x , y ) e
x 2 y 2
2 2
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Alternatives to Ideal Filters:
Butterworth Filters:
H ( x , y )
Control parameters
x 2 y 2
1
2
Control parameters
Gaussian Filters:
H ( x , y ) e
2n
x 2 y 2
2 2
Advantage
h( x, y) 2 e 2
2 ( x2 y 2 )
MATLAB
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
High-pass derived Filters:
Butterworth Filters:
H ( x , y )
c2
1
2 2
y
x
2n
Gaussian Filters:
H ( x , y ) 1 e
x 2 y 2
2 2
h( x, y) ( x, y) 2 e2
2 ( x2 y 2 )
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Cutoff Frequency of non-ideal Filters:
Define Power:
P(x , y ) | H (x , y ) |2
P( ,
x
100%
) d x d y
( x , y )
P( ,
x
) d x d y
( x , y )Full
A cutoff frequency can
be defined by setting alpha.
This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Homomorphic Filtering:
Recall the Simple Model of (Gray) Image Formation:
Can distinguish two components:
Illumination incident on the object: 0 < i(x,y) < Inf
Reflectance function of the object: 0 < r(x,y) < 1
Typically low freq. content
f ( x, y) i( x, y)r ( x, y) F (x , y ) I (x , y ) R(x , y )
Typically high freq. content
Since we dont have access generally to the individual I or R
components, we cant design filters for treating them separately.
This lecture based on notes by G+W
10
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Linear filters in the log domain
SOLUTION:
Take log of the image, filter the result, then take exponential
log f ( x, y ) log i ( x, y ) log r ( x, y )
f L ( x, y ) iL ( x, y ) rL ( x, y )
FL ( x , y ) I L ( x , y ) RL ( x , y )
APPLICATION:
Improve (Compress) Dynamic Range
Enhance Contrast
This lecture based on notes by G+W
10
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Linear filter in the log domain
Filter FL (x , y ) with a linear filter H L (x , y ) such that
Dampen low frequencies
Highpass filter in the log domain
Enhance high frequencies
Go to Retinex
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This lecture based on notes by G+W
12
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing
Recall the 1-D scenario:
This lecture based on notes by G+W
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13
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing
Recall the 1-D scenario:
Spectra of:
Cont. Signal
Sampling function
Sampled Signal
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This lecture based on notes by G+W
14
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing
Recall the 1-D scenario:
Sampling Theorem:
Aliasing
If a 1-d signal is bandlimited to frequency W, then if it is sampled with a sufficiently high
rate (higher than 2W), its spectral replica do not overlap, and it can be reconstructed
without loss by linear time-invariant filtering.
This lecture based on notes by G+W
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15
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing in 2-D
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This lecture based on notes by G+W
16
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing in 2-D
Sampling in 2-D also leads to spectral replication.
This lecture based on notes by G+W
16
17
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing in 2-D
Sampling Theorem (2-D):
If an is bandlimited to a set S, then if it is sampled with a sufficiently high rate
(directionally higher than 2xradius of S), then its spectral replica do not overlap, and it
can be reconstructed without loss by linear shift-invariant filtering.
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This lecture based on notes by G+W
18
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and Aliasing in 2-D
Many baseband spectra
may be reconstructed with
the same sampling grid. (Tiling)
Sampling Theorem (2-D):
If an is bandlimited to a set S, then if it is sampled with a sufficiently high rate
(directionally higher than 2xradius of S), then its spectral replica do not overlap, and it
can be reconstructed without loss by linear shift-invariant filtering.
This lecture based on notes by G+W
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19
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Examples and Demos of Aliasing in 2-D
Ptolemy Demo
Chalmers Demos
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This lecture based on notes by G+W
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Image Interpolation
10
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and interpolation in 1D
Matlabs
interp1()
function
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling and interpolation in 2D
a
Matlabs
interp2()
function
11
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
When is interpolation useful?
Zoom; Rotation; In general, spatial transformation
The interpolation task of digital image processing is
transformation from sampled images to resampled images
Original
Zoomed
Projectivetransformed
Rotated
Any image-related device and software involve interpolation
E.g., television, video games, medical instruments, graphics
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Nearest-neighbor interpolation
The value of the nearest
pixel is copied
Original (sampled) grid
Resampled grid
Copied
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Bilinear interpolation
The values of the four
nearest samples are
linearly weighted
along both axes
Original (sampled) grid
Resampled grid
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
The convolution theorem
Filtering operation is
Convolution in the spatial domain
Multiplication in the frequency domain
And vice versa
13
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling
Multiplication with a nailbed
Convolution with a nailbed
(Picture taken and modified from Lecture 8Filtering in the frequency domain)
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Aliasing
14
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sampling theorem
If the original image is sampled at a rate higher than
twice the highest frequency of it (the Nyquist rate),
then replicated spectra do not overlap and it can be
reconstructed without loss.
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
How to recover the original?
Sampling
15
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
How to recover the original?
Sampling
Reconstruction
Solution
Extract the central spectrum
(This is point-wise multiplication,
hence achieved by linear filtering)
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sinc filter
Extracting the central spectrum is achieved by
multiplying a box in the frequency domain
Its spatial counterpart is called the sinc function
Inverse FT
FT
16
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Separable filters
A filter is separable when
Separable filters can be applied by two 1D filtering
operations; first along one axis, then along the other
axis
(Lehmann et al., 1999)
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Ideal sampling in 1D (frequency domain)
Sampling
Reconstruction
17
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Ideal sampling in 1D (spatial domain)
Sampling
Interpolation
Infinite
support
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Is that all? No!
We have the ideal reconstruction filter. Is that all?
No!
Practical issues:
Fourier transform is often too heavy to compute in order
to meet a demand for fast processing
Sinc has an infinite support and its computation is lengthy
We find that its valuable to have interpolation filters
that are locally supported in the spatial domain.
Well review such filters in the following slides.
18
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Sinc
(Lehmann et al., 1999)
Spatial
Frequency
Log Frequency
1 at the origin, 0 at the other integer points
Positive from 0 to 1, negative from 1 to 2, positive
from 2 to 3, and so on (oscillating)
Infinite support (though not shown)
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Nearest-neighbor
(Lehmann et al., 1999)
60% at the cutoff
20% at the
maximum sidelobe
Spatial
Frequency
Log Frequency
The rough extreme for approximating sinc
Support size is 1 x 1 (very fast computation)
Bad frequency response
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Linear
(Lehmann et al., 1999)
Below 10% at the
maximum sidelobe
Spatial
Frequency
Log Frequency
Triangle corresponds to linear interpolation because the
values of neighbor pixels are weighted by their distance
Support size is 2 x 2
Remark: Triangle is a convolution of two boxes
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Cubic
(Lehmann et al., 1999)
Below 1% at the
maximum sidelobe
Spatial
Frequency
Log Frequency
Negative between 1 and 2
Support size is 4 x 4
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Truncated sinc (5 x 5)
(Lehmann et al., 1999)
Overshoot
Sinc truncated at 2.5, giving 5 x 5 support
Sudden truncation causes overshoots
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Truncated sinc (6 x 6)
Overshoot
(Lehmann et al., 1999)
Sinc truncated at 3, giving 6 x 6 support
Sudden truncation causes overshoots
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
There are hundreds of interpolators
Lehman et al. [1] report quantitative comparison of
31 interpolation kernels
[1] T. M. Lehmann, C. Gnner, and K. Spitzer, Survey:
Interpomation methods in medical image processing,
IEEE Transactions on Medical Imaging, vol. 18, pp. 1049
1075, Nov. 1999.
There are even more in the literature
Only several of them are implemented in Matlab
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
Matlab exercise
Simple zoom (and shrink)
imresize()
Rotation
imrotate()
General spatial transformation
maketform(), imtransform()
A bit tricky
Transformation of coordinates
To use interp2(), we have to transform coordinates
22
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
imresize()
%% Read the original image
f = rgb2gray(im2double(imread('lena.tiff')));
%% Zoom
factor = 3;
gzoom_box = imresize(f, factor, 'box');
gzoom_cubic = imresize(f, factor, 'cubic');
figure(1)
subplot(1, 3, 1)
imagesc(gzoom_box); axis off; axis image; colormap(gray(256))
title('Box')
subplot(1, 3, 2)
imagesc(gzoom_cubic); axis off; axis image; colormap(gray(256))
title('Cubic')
subplot(1, 3, 3)
imagesc(gzoom_box - gzoom_cubic); axis off; axis image; colormap(gray(256))
title('Difference')
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
imrotate()
%% Rotation
angle = 30;
grot_nearest = imrotate(f, angle, 'nearest');
grot_bicubic = imrotate(f, angle, 'bicubic');
figure(2)
subplot(1, 3, 1)
imagesc(grot_nearest); axis off; axis image; colormap(gray(256))
title('Nearest')
subplot(1, 3, 2)
imagesc(grot_bicubic); axis off; axis image; colormap(gray(256))
title('Bicubic')
subplot(1, 3, 3)
imagesc(grot_nearest - grot_bicubic); axis off; axis image; colormap(gray(256))
title('Difference')
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
imtform()
%% Affine transformation
A = [1.25, 0.35, 0;
0.20, 0.80, 0;
0.00, 0.00, 1];
tform = maketform('affine', A);
gtform_nearest = imtransform(f, tform, 'nearest');
gtform_bicubic = imtransform(f, tform, 'bicubic');
figure(3)
subplot(1, 3, 1)
imagesc(gtform_nearest); axis off; axis image; colormap(gray(256))
title('Nearest')
subplot(1, 3, 2)
imagesc(gtform_bicubic); axis off; axis image; colormap(gray(256))
title('Bicubic')
subplot(1, 3, 3)
imagesc(gtform_nearest - gtform_bicubic); axis off; axis image; colormap(gray(256))
title('Difference')
EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
tformfwd()
%% Use interp2() to interpolation
% We have to have transformed *coordinates* to resample
M = 32;
[x, y] = meshgrid(1:M); % Oriignal grid coordinates
[xg, yg] = tformfwd(tform, x, y); % Transform according to tform
xg = xg - (max(xg(:)) - M)/2;
yg = yg - (max(yg(:)) - M)/2;
figure(4)
scatter(x(:), y(:), 'b')
hold on
scatter(xg(:), yg(:), 'r')
hold off
axis tight
title('Original and resampling points')
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EE 264: Image Processing and Reconstruction
Peyman Milanfar
UCSC EE Dept.
interp2()
% Do it for image f
M = size(f, 1);
[x, y] = meshgrid(1:M); % Oriignal grid coordinates
[xg, yg] = tformfwd(tform, x, y); % Transform according to tform
xg = xg - (max(xg(:)) - M)/2;
yg = yg - (max(yg(:)) - M)/2;
gp2_nearest = interp2(x, y, f, xg, yg, 'nearest');
gp2_cubic = interp2(x, y, f, xg, yg, 'cubic');
figure(5)
subplot(1, 3, 1)
imagesc(gp2_nearest); axis off; axis image; colormap(gray(256));
title('Nearest')
subplot(1, 3, 2)
imagesc(gp2_cubic); axis off; axis image; colormap(gray(256))
title('Cubic')
subplot(1, 3, 3)
imagesc(gp2_nearest - gp2_cubic); axis off; axis image; colormap(gray(256))
title('Difference')
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