sampling theory 101 - university of california,...
TRANSCRIPT
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Sampling Theory 101Oliver Kreylos
Center for Image Processing and Integrated Computing (CIPIC)
Department of Computer Science
University of California, Davis
CIPIC Seminar 11/06/02 – p.1
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Outline
• Things that typically go wrong• Mathematical model of sampling• How to do things better
CIPIC Seminar 11/06/02 – p.2
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Things That Typically Go Wrong
CIPIC Seminar 11/06/02 – p.3
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Where Does Sampling Occur?
Almost all data we are dealing with is discrete• Evaluation of sampled functions at arbitrary
sites• Volume rendering• Isosurface extraction• Ray tracing• . . .
CIPIC Seminar 11/06/02 – p.4
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What Went Wrong Here?
Typical ray tracing example:
CIPIC Seminar 11/06/02 – p.5
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Sampling and Reconstruction
CIPIC Seminar 11/06/02 – p.6
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Sampling and Reconstruction
CIPIC Seminar 11/06/02 – p.6
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Sampling and Reconstruction
CIPIC Seminar 11/06/02 – p.6
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Sampling and Reconstruction
• Undersampling?• Sampling “below Nyquist rate”?• Quick solution: Double sampling rate
CIPIC Seminar 11/06/02 – p.6
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Sampling and Reconstruction
CIPIC Seminar 11/06/02 – p.6
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Sampling and Reconstruction
• Things get better, but are still bad• Isn’t sampling above the Nyquist rate
supposed to solve all problems?
CIPIC Seminar 11/06/02 – p.6
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Sampling Theory
To understand what went wrong on the last slide,
we need a mathematical model of sampling.
CIPIC Seminar 11/06/02 – p.7
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Mathematical Model of Sampling
CIPIC Seminar 11/06/02 – p.8
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Choice of Domain
• Process of sampling and reconstruction isbest understood in frequency domain
• Use Fourier transform to switch between timeand frequency domains
• Function in time domain: signal• Function in frequency domain: spectrum
CIPIC Seminar 11/06/02 – p.9
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Fourier Transform I
• Many functions f :R → R can be written assums of sine waves
f(x) =∑
ω
aω sin(ωx + θω)
• ω = 2π · frequency is angular velocity,• aω is amplitude, and• θω is phase shift
CIPIC Seminar 11/06/02 – p.10
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Fourier Transform II
• Moving to complex numbers simplifiesnotation:
cos(ωx) + i sin(ωx) = eiωx
(Euler identity )
• One complex coefficient cωeiωx encodes bothamplitude and phase shift
• Moving to integral enlarges class ofrepresentable functions
CIPIC Seminar 11/06/02 – p.11
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Fourier Transform III
• Now, for almost all f :
f(x) =
∫F (ω)eiωx dω
• F (ω) is the spectrum of f(x), and the aboveoperator is the inverse Fourier transform
• Its inverse, the Fourier transform, is
F (ω) =
∫f(x)e−iωx dx
CIPIC Seminar 11/06/02 – p.12
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Some Signals and Their Spectra
Single sine wave f(x) = sin(ωx):
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Sum of two sine wavesf(x) = sin(ωx) + 0.5 sin(2ωx):
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Box function:
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Wider box function:
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Triangle function:
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Comb function:
↔
CIPIC Seminar 11/06/02 – p.13
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Some Signals and Their Spectra
Wider comb function:
↔
CIPIC Seminar 11/06/02 – p.13
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Convolution I
• The convolution operator is a generalizedformula to express weighted averaging of aninput signal f and a weight function or filterkernel g:
(f ∗ g)(x) =
∫f(t) · g(x − t) dt
• One important application of convolution isreconstructing sampled signals
CIPIC Seminar 11/06/02 – p.14
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Convolution II
(f ∗ g)(x0) =
∫f(t) · g(x0 − t) dt
x
f
x
g
x0x
f
x0
x
f
x0
x
f
x0
x
f*g
x0
CIPIC Seminar 11/06/02 – p.15
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Convolution III
Linear interpolation can be interpreted asconvolution:
x
f
x
g
x
f
x
f
CIPIC Seminar 11/06/02 – p.16
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Function Reconstruction
Constant interpolation:
↔
CIPIC Seminar 11/06/02 – p.17
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Function Reconstruction
Linear interpolation:
↔
CIPIC Seminar 11/06/02 – p.17
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Function Reconstruction
Catmull-Rom interpolation:
↔
CIPIC Seminar 11/06/02 – p.17
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Function Reconstruction
Cubic B-spline approximation:
↔
CIPIC Seminar 11/06/02 – p.17
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The Convolution Theorem
• The Convolution Theorem relates convolutionand Fourier transform:
(f ∗ g) ↔ F · G
• Convolutions can be computed by goingthrough the frequency domain:
(f ∗ g) = IFT(FT(f) · FT(g))
CIPIC Seminar 11/06/02 – p.18
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Sampling in Time Domain
• Sampling a function f means multiplying itwith a comb function c with tap distance d (orsample frequency ω = 2π/d):
s = f · c
• Reconstructing a sampled function meansconvolving it with a suitable filter kernel
f ′ = s ∗ k
• What happens to the function’s spectrum inthe process?
CIPIC Seminar 11/06/02 – p.19
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Sampling in Frequency Domain
• The spectrum of s is the convolution of Fand C, the spectra of f and c
• C is a comb function with tap distance 2π/d
• S consists of shifted copies of F , each 2π/dapart
CIPIC Seminar 11/06/02 – p.20
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Sampling Process - Time Domain
↔
CIPIC Seminar 11/06/02 – p.21
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Sampling Process - Frequency Domain
↔
CIPIC Seminar 11/06/02 – p.22
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Sampling in Frequency Domain
• If the sampling frequency is ω, the replicatedcopies of f ’s spectrum are ω apart
• If the highest-frequency component in f is ωf ,f ’s spectrum covers the interval [−ωf , ωf ]
• If ωf ≥ ω/2, then the replicated spectraoverlap!
• This means, information is lost
CIPIC Seminar 11/06/02 – p.23
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The Sampling Theorem
• “If f is a frequency-limited function withmaximum frequency ωf , then f must besampled with a sampling frequency largerthan 2ωf in order to be able to exactlyreconstruct f from its samples.”
• This theorem is sometimes called Shannon’sTheorem
• 2ωf is sometimes called Nyquist rate
CIPIC Seminar 11/06/02 – p.24
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Reconstruction
• The only difference between F and S is that Sis made of shifted copies of F
• If those extra, higher-frequency, spectra couldbe removed from S, f would “magically”reappear
• Reconstructing f means low-pass-filtering s!
CIPIC Seminar 11/06/02 – p.25
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Reconstruction Process - Frequency Domain
↔
CIPIC Seminar 11/06/02 – p.26
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Reconstruction Process - Time Domain
↔
CIPIC Seminar 11/06/02 – p.27
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Reconstruction Problem
• Practical problem: The optimal reconstructionfilter, the sinc function, has infinite support
• Evaluating it in the time domain involvescomputing a weighted average of infinitelymany samples
• Practical reconstruction filters must have finitesupport
• But: A perfect low-pass filter with finitesupport does not exist!
CIPIC Seminar 11/06/02 – p.28
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The Quest For Better Filters
CIPIC Seminar 11/06/02 – p.29
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Commonly Used Filters
Constant filter:
↔
CIPIC Seminar 11/06/02 – p.30
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Commonly Used Filters
Linear filter:
↔
CIPIC Seminar 11/06/02 – p.30
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Commonly Used Filters
Catmull-Rom filter:
↔
CIPIC Seminar 11/06/02 – p.30
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Commonly Used Filters
B-Spline filter:
↔
CIPIC Seminar 11/06/02 – p.30
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Sampling Theory Filters
Truncated sinc filter:
↔
CIPIC Seminar 11/06/02 – p.31
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Sampling Theory Filters
Lanczos filter:
↔
CIPIC Seminar 11/06/02 – p.31
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Sampling Theory Filters
Full sinc filter:
↔
CIPIC Seminar 11/06/02 – p.31
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Sampling Theory Applications
CIPIC Seminar 11/06/02 – p.32
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Function Reconstruction
• Sampling theory filters (Lanczos etc.) can beused to reconstruct n-dimensional functionssampled on regular grids
• Oversampling improves reconstruction qualitywith “bad” filters, but at a high cost
CIPIC Seminar 11/06/02 – p.33
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Function Resampling
• When resampling a sampled function to adifferent grid (shifted and/or scaled), it isimportant to use a good reconstruction filter
• When downsampling a function, it isimportant to use a good low-pass filter to cutoff frequencies above half the new samplingfrequency
CIPIC Seminar 11/06/02 – p.34
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Volume Rendering
• Basic question: How many samples to takeper cell?
d
• Sampling theory says “1,” but integrationalong ray might demand more
CIPIC Seminar 11/06/02 – p.35
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Volume Rendering
• Basic question: How many samples to takeper cell?
d
• Sampling theory says “1,” but integrationalong ray might demand more
CIPIC Seminar 11/06/02 – p.35
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Ray Tracing
• In ray tracing, the function to be sampled istypically not frequency-limited
• Practical solution: Shoot multiple rays perpixel (oversampling) and sample down toimage resolution
• Using a good low-pass filter is important
CIPIC Seminar 11/06/02 – p.36
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Ray Tracing
CIPIC Seminar 11/06/02 – p.36
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Conclusions
CIPIC Seminar 11/06/02 – p.37
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Conclusions
• Knowing the mathematical background ofsampling and reconstruction helps tounderstand common problems and devisesolutions
• Ad-hoc solutions usually do not work well• This stuff should be taught in class!
CIPIC Seminar 11/06/02 – p.38
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The End
CIPIC Seminar 11/06/02 – p.39