Image Enhancement in The Frequency Domain: © 2002 R. C. Gonzalez & R. E. Woods

Digital Image Processing, 2nd ed. www.imageprocessingbook.
com
Chapter 4
Image Enhancement in the
Frequency Domain
© 2002 R. C. Gonzalez & R. E. Woods

Digital Image Processing, 2nd ed. www.imageprocessingbook.com
Background
• Any function that periodically repeats itself can be

expressed as the sum of sines and/or cosines of
different frequencies, each multiplied by a
different coefficient (Fourier series).
• Even functions that are not periodic (but whose
area under the curve is finite) can be expressed as
the integral of sines and/or cosines multiplied by a
weighting function (Fourier transform).

Background
• The frequency domain

refers to the plane of the two
dimensional discrete Fourier
transform of an image.
• The purpose of the Fourier
transform is to represent a
signal as a linear combination
of sinusoidal signals of
various frequencies.

Introduction to the Fourier Transform

and the Frequency Domain
• The one-dimensional Fourier transform and its inverse

– Fourier transform (continuous case)

F (u)   f ( x)e j 2uxdx where j   1

– Inverse Fourier transform: e j  cos   j sin 

f ( x)   F (u)e j 2ux du

• The two-dimensional Fourier transform and its inverse
– Fourier transform (continuous case)
 
F (u, v)    f ( x, y)e j 2 (uxvy ) dxdy
 
– Inverse Fourier transform:
 
f ( x, y)    F (u, v)e j 2 (uxvy ) dudv
  


• The one-dimensional Fourier transform and its inverse

– Fourier transform (discrete case) DTC
M 1
1
F (u ) 
M
 f ( x )e
x 0
 j 2ux / M
for u  0,1,2,..., M  1

M 1
f ( x)   F (u )e j 2ux / M for x  0,1,2,..., M  1
u 0


• Since e j  cos   j sin  and the fact cos(  )  cos 

then discrete Fourier transform can be redefined
M 1
1
F (u ) 
M
 f ( x)[cos 2ux / M  j sin 2ux / M ]
x 0
for u  0,1,2,..., M  1
– Frequency (time) domain: the domain (values of u) over

which the values of F(u) range; because u determines the
frequency of the components of the transform.
– Frequency (time) component: each of the M terms of F(u).


• F(u) can be expressed in polar coordinates:

F (u )  F (u ) e j (u )
 
1
where F (u )  R (u )  I (u )
2 2 2 (magnitude or spectrum)
 I (u ) 
 (u )  tan  1
 (phase angle or phase spectrum)
 R(u ) 
– R(u): the real part of F(u)
– I(u): the imaginary part of F(u)
• Power spectrum:
P(u )  F (u )  R 2 (u )  I 2 (u )
2

The One-Dimensional Fourier Transform

Example


• The two-dimensional Fourier transform and its inverse

– Fourier transform (discrete case) DTC
1 M 1 N 1
F (u, v)  
MN x 0 y 0
f ( x , y ) e  j 2 ( ux / M  vy / N )
for u  0,1,2,..., M  1, v  0,1,2,..., N  1

M 1 N 1
f ( x, y )   F (u, v)e j 2 ( ux / M  vy / N )
u 0 v 0
for x  0,1,2,..., M  1, y  0,1,2,..., N  1
• u, v : the transform or frequency variables

• x, y : the spatial or image variables

• We define the Fourier spectrum, phase anble, and power

spectrum as follows:
 
1
F (u, v)  R 2 (u, v)  I 2 (u, v) 2 ( spectrum)
 I (u, v) 
 (u, v)  tan 1   (phase angle)
 R(u, v) 
P(u,v)  F (u, v)  R 2 (u, v)  I 2 (u, v) (power spectrum)
2
– R(u,v): the real part of F(u,v)

– I(u,v): the imaginary part of F(u,v)


• Some properties of Fourier transform:


 f ( x, y )( 1) x y
 M N
 F (u  , v  ) (shift)
2 2
M 1 N 1
1
F (0,0) 
MN
 f ( x, y)
x 0 y 0
(average)
F (u, v)  F * (u ,v) (conujgate symmetric)

F (u, v)  F (u,v) (symmetric )

Major filter categories
• Typically, filters are classified by examining their

properties in the frequency domain:
(1) Low-pass
(2) High-pass
(3) Band-pass
(4) Band-stop

Example
Original signal
Low-pass filtered
High-pass filtered
Band-pass filtered
Band-stop filtered

Low-pass filters
(i.e., smoothing filters)
• Preserve low frequencies - useful for noise suppression
frequency domain time domain
Example:

High-pass filters
(i.e., sharpening filters)
• Preserves high frequencies - useful for edge detection
time
domain
frequency
domain
Example:

Band-pass filters
• Preserves frequencies within a certain band
frequency time
domain domain
Example:

Band-stop filters
• How do they look like?

Band-pass Band-stop

The Two-Dimensional DFT and Its Inverse
The 2D DFT F(u,v) can be obtained by

1. taking the 1D DFT of every row of image f(x,y), F(u,y),
2. taking the 1D DFT of every column of F(u,y)
(a)f(x,y) (b)F(u,y) (c)F(u,v)

The Two-Dimensional DFT and Its Inverse
shift
The Property of Two-Dimensional DFT
Rotation
DFT
DFT
Two-Dimensional DFT with Different Functions
Sine wave Its DFT
Rectangle
Its DFT
Two-Dimensional DFT with Different Functions
2D Gaussian Its DFT

function
Impulses
Its DFT
Filtering in the Frequency Domain

Basics of Filtering in the Frequency Domain

Some Basic Filters and Their Functions
• Multiply all values of F(u,v) by the filter function (notch filter):

 0 if (u, v)  ( M / 2, N / 2)
H (u, v)  
1 otherwise.
– All this filter would do is set F(0,0) to zero (force the average value of
an image to zero) and leave all frequency components of the Fourier
transform untouched.

Lowpass filter
Highpass filter


Correspondence between Filtering in

the Spatial and Frequency Domain
• Convolution theorem:
– The discrete convolution of two functions f(x,y) and h(x,y)
of size MXN is defined as
M 1 N 1
1
f ( x, y )  h ( x, y ) 
MN
 f (m, n)h( x  m, y  n)
m 0 n 0
– Let F(u,v) and H(u,v) denote the Fourier transforms of

f(x,y) and h(x,y), then
f ( x, y )  h( x, y )  F (u, v) H (u, v) Eq. (4.2-31)
f ( x, y )h( x, y )  F (u, v)  H (u, v) Eq. (4.2-32)


• A ( x  x0 , y  y0 ) :an impulse function of strength A, located at

coordinates (x0,y0)
M 1 N 1
 s( x, y) A ( x  x , y  y )  As( x , y )
x 0 y 0
0 0 0 0
M 1 N 1
 s( x, y) ( x, y)  s(0,0)
x 0 y 0
where  ( x, y ) : a unit impulse located at the origin
• The Fourier transform of a unit impulse at the origin (Eq.
(4.2-35)) : 1 M 1 N 1 1
F (u, v) 
MN
  ( x,
x 0 y 0
y )e  j 2 ( ux / M  vy / N )

MN


• Let f ( x, y )   ( x, y ) , then the convolution (Eq. (4.2-36))

1 M 1 N 1
f ( x , y )  h ( x, y )  
MN m 0 n 0
 (m, n)h( x  m, y  n)
1
 h ( x, y )
MN
• Combine Eqs. (4.2-35) (4.2-36) with Eq. (4.2-31), we obtain
f ( x, y )  h( x, y )  F (u, v) H (u, v)
 ( x, y )  h( x, y )   ( x, y )H (u, v)
1 1
h ( x, y ) H (u, v)
MN MN
h( x, y )  H (u, v)


• Let H(u) denote a frequency domain, Gaussian filter function

given the equation
 u 2 / 2 2
H (u)  Ae
where  : the standard deviation of the Gaussian curve.
• The corresponding filter in the spatial domain is
2 2 2 x 2
h( x)  2 Ae
• Note: Both the forward and inverse Fourier transforms of a

Gaussian function are real Gaussian functions.




• One very useful property of the Gaussian function is that both it and its
Fourier transform are real valued; there are no complex values associated
with them.
• In addition, the values are always positive. So, if we convolve an image
with a Gaussian function, there will never be any negative output values to
deal with.
• There is also an important relationship between the widths of a Gaussian
function and its Fourier transform. If we make the width of the function
smaller, the width of the Fourier transform gets larger. This is controlled
by the variance parameter 2 in the equations.
• These properties make the Gaussian filter very useful for lowpass filtering
an image. The amount of blur is controlled by 2. It can be implemented
in either the spatial or frequency domain.
• Other filters besides lowpass can also be implemented by using two
different sized Gaussian functions.

Smoothing Frequency-Domain Filters
• The basic model for filtering in the frequency domain

G (u, v)  H (u, v) F (u, v)
where F(u,v): the Fourier transform of the image to be smoothed
H(u,v): a filter transfer function
• Smoothing is fundamentally a lowpass operation in the

frequency domain.
• There are several standard forms of lowpass filters (LPF).
– Ideal lowpass filter
– Butterworth lowpass filter
– Gaussian lowpass filter

Ideal Lowpass Filters (ILPFs)
• The simplest lowpass filter is a filter that “cuts off” all high-
frequency components of the Fourier transform that are at a
distance greater than a specified distance D0 from the origin of
the transform.
• The transfer function of an ideal lowpass filter
1 if D(u, v)  D0
H (u, v)  
0 if D(u, v)  D0
where D(u,v) : the distance from point (u,v) to the center of ther
frequency rectangle
 
1
D(u, v)  (u  M / 2)  (v  N / 2)
2 2 2



Ideal Lowpass Filters

Ideal Lowpass Filters

Another Example frequency
Figure 4.13 (a) A frequency-domain
ILPF of radius 5. (b) Corresponding
spatial filter. (c) Five impulses in the
spatial domain, simulating the values
spatial
of five pixels. (d) Convolution of (b)
and (c) in the spatial domain.
f ( x, y )  h( x, y )  F (u, v) H (u, v) spatial
spatial

Butterworth Lowpass Filters (BLPFs)

With order n
1
H (u, v) 
1  D(u, v) / D0 
2n

Butterworth Lowpass
Filters (BLPFs)
n=2
D0=5,15,30,80,and 230

Butterworth Lowpass Filters (BLPFs)

Spatial Representation
n=1 n=2 n=5 n=20

Gaussian Lowpass Filters (FLPFs)
 D 2 ( u ,v ) / 2 D02
H (u, v)  e

Gaussian Lowpass
Filters (FLPFs)
D0=5,15,30,80,and 230

Additional Examples of Lowpass Filtering

Additional Examples of Lowpass Filtering

Sharpening Frequency Domain Filter
H hp (u, v)  H lp (u, v)
Ideal highpass filter
0 if D(u, v)  D0
H (u, v)  
1 if D(u, v)  D0
Butterworth highpass filter

1
H (u, v) 
1  D0 / D(u, v)
2n
Gaussian highpass filter

 D 2 ( u ,v ) / 2 D02
H (u, v)  1  e

Highpass Filters
Spatial Representations

Ideal Highpass Filters
0 if D(u, v)  D0
H (u, v)  
1 if D(u, v)  D0

Butterworth Highpass Filters
1
H (u, v) 
1  D0 / D(u, v)
2n

Gaussian Highpass Filters
 D 2 ( u ,v ) / 2 D02
H (u, v)  1  e

The Laplacian in the Frequency Domain
• The Laplacian filter

H (u, v)  (u 2  v 2 )
• Shift the center:
 M N 
H (u , v)   (u  ) 2  (v  ) 2 
 2 2  Frequency
domain
Spatial domain

g ( x, y )  f ( x, y )   2 f ( x, y )
where
 2 f ( x, y ) : the Laplacian - filtered
image in the spatial domain
For display
purposes only

Implementation
Some Additional Properties of the 2D Fourier Transform
• Periodicity, symmetry, and back-to-back properties
shift

Implementation
Some Additional Properties of the 2D Fourier Transform
• Separability

Implementation
More on Periodicity
Convolutio n
f ( x )  h( x ) 
M 1
1
M
 f ( m) h ( x  m)
m 0

extend
extend

Summary of Some Important Properties

of the 2-D Fourier Transform







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Digital Image Processing, 2nd ed. www.imageprocessingbook.

© 2002 R. C. Gonzalez & R. E. Woods

• Any function that periodically repeats itself can be

© 2002 R. C. Gonzalez & R. E. Woods

• The frequency domain

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• The one-dimensional Fourier transform and its inverse

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• The one-dimensional Fourier transform and its inverse

– Inverse Fourier transform:

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• Since e j  cos   j sin  and the fact cos(  )  cos 

– Frequency (time) domain: the domain (values of u) over

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• F(u) can be expressed in polar coordinates:

© 2002 R. C. Gonzalez & R. E. Woods

The One-Dimensional Fourier Transform

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• The two-dimensional Fourier transform and its inverse

for u  0,1,2,..., M  1, v  0,1,2,..., N  1

for x  0,1,2,..., M  1, y  0,1,2,..., N  1

• u, v : the transform or frequency variables

Introduction to the Fourier Transform

• We define the Fourier spectrum, phase anble, and power

– R(u,v): the real part of F(u,v)

© 2002 R. C. Gonzalez & R. E. Woods

Introduction to the Fourier Transform

• Some properties of Fourier transform:

F (u, v)  F * (u ,v) (conujgate symmetric)

© 2002 R. C. Gonzalez & R. E. Woods

Major filter categories

• Typically, filters are classified by examining their

© 2002 R. C. Gonzalez & R. E. Woods

© 2002 R. C. Gonzalez & R. E. Woods

• Preserve low frequencies - useful for noise suppression

frequency domain time domain

© 2002 R. C. Gonzalez & R. E. Woods

• Preserves high frequencies - useful for edge detection

© 2002 R. C. Gonzalez & R. E. Woods

• Preserves frequencies within a certain band

© 2002 R. C. Gonzalez & R. E. Woods

• How do they look like?

© 2002 R. C. Gonzalez & R. E. Woods

The 2D DFT F(u,v) can be obtained by

(a)f(x,y) (b)F(u,y) (c)F(u,v)

The Two-Dimensional DFT and Its Inverse

Sine wave Its DFT

2D Gaussian Its DFT

Filtering in the Frequency Domain

© 2002 R. C. Gonzalez & R. E. Woods

Basics of Filtering in the Frequency Domain

© 2002 R. C. Gonzalez & R. E. Woods

Some Basic Filters and Their Functions

• Multiply all values of F(u,v) by the filter function (notch filter):