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SpectrogramusingshorttimeFouriertransformMATLABspectrogram

spectrogram
SpectrogramusingshorttimeFouriertransform

Syntax
s=spectrogram(x)

example

s=spectrogram(x,window)
s=spectrogram(x,window,noverlap)

example

s=spectrogram(x,window,noverlap,nfft)

example

[s,w,t]=spectrogram( ___ )
[s,f,t]=spectrogram( ___ ,fs)

example

[s,w,t]=spectrogram(x,window,noverlap,w)
[s,f,t]=spectrogram(x,window,noverlap,f,fs)
[ ___ ,ps]=spectrogram( ___ )
[ ___ ]=spectrogram( ___ ,'reassigned')

example

[ ___ ,ps,fc,tc]=spectrogram( ___ )

example

[ ___ ]=spectrogram( ___ ,freqrange)

[ ___ ]=spectrogram( ___ ,spectrumtype)
[ ___ ]=spectrogram( ___ ,'MinThreshold',thresh)

example

spectrogram( ___ )

example

spectrogram( ___ ,freqloc)

example

Description
s=spectrogram(x)returnstheshorttimeFouriertransformoftheinputsignal,x.Eachcolumn
ofscontainsanestimateoftheshortterm,timelocalizedfrequencycontentofx.

example

s=spectrogram(x,window)useswindowtodividethesignalintosectionsandperform
windowing.
s=spectrogram(x,window,noverlap)usesnoverlapsamplesofoverlapbetweenadjoining
sections.

example

s=spectrogram(x,window,noverlap,nfft)usesnfftsamplingpointstocalculatethe
discreteFouriertransform.

example

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[s,w,t]=spectrogram( ___ )returnsavectorofnormalizedfrequencies,w,andavectoroftime

instants,t,atwhichthespectrogramiscomputed.Thissyntaxcanincludeanycombinationof
inputargumentsfromprevioussyntaxes.
[s,f,t]=spectrogram( ___ ,fs)returnsavectorofcyclicalfrequencies,f,expressedinterms
ofthesamplerate,fs.

example

[s,w,t]=spectrogram(x,window,noverlap,w)returnsthespectrogramatthenormalized
frequenciesspecifiedinw.
[s,f,t]=spectrogram(x,window,noverlap,f,fs)returnsthespectrogramatthecyclical
frequenciesspecifiedinf.
[ ___ ,ps]=spectrogram( ___ )alsoreturnsamatrix,ps,containinganestimateofthepower
spectraldensity(PSD)orthepowerspectrumofeachsection.
[ ___ ]=spectrogram( ___ ,'reassigned')reassignseachPSDorpowerspectrumestimateto
thelocationofitscenterofenergy.Ifyoursignalcontainswelllocalizedtemporalorspectral
components,thenthisoptiongeneratesasharperspectrogram.

example

[ ___ ,ps,fc,tc]=spectrogram( ___ )alsoreturnstwomatrices,fcandtc,containingthe

frequencyandtimeofthecenterofenergyofeachPSDorpowerspectrumestimate.

example

[ ___ ]=spectrogram( ___ ,freqrange)returnsthePSDorpowerspectrumestimateoverthe

frequencyrangespecifiedbyfreqrange.Validoptionsforfreqrangeare'onesided',
'twosided',and'centered'.
[ ___ ]=spectrogram( ___ ,spectrumtype)returnsPSDestimatesifspectrumtypeisspecified
as'psd'andreturnspowerspectrumestimatesifspectrumtypeisspecifiedas'power'.
[ ___ ]=spectrogram( ___ ,'MinThreshold',thresh)setstozerothoseelementsofpssuch
that10log10(ps)thresh.Specifythreshindecibels.

example

spectrogram( ___ )withnooutputargumentsplotsthespectrograminthecurrentfigurewindow.

example

spectrogram( ___ ,freqloc)specifiestheaxisonwhichtoplotthefrequency.

example

Examples

collapseall

DefaultValuesofSpectrogram
Generate
samplesofasignalthatconsistsofasumofsinusoids.The
normalizedfrequenciesofthesinusoidsare
rad/sampleand
rad/sample.The
higherfrequencysinusoidhas10timestheamplitudeoftheothersinusoid.

OpenThisExample

N=1024;
n=0:N1;
w0=2*pi/5;
x=sin(w0*n)+10*sin(2*w0*n);
ComputetheshorttimeFouriertransformusingthefunctiondefaults.Plotthespectrogram.
s=spectrogram(x);
spectrogram(x,'yaxis')
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Repeatthecomputation.

Dividethesignalintosectionsoflength

WindowthesectionsusingaHammingwindow.

Specify50%overlapbetweencontiguoussections.

TocomputetheFFT,use

points,where

Verifythatthetwoapproachesgiveidenticalresults.
Nx=length(x);
nsc=floor(Nx/4.5);
nov=floor(nsc/2);
nff=max(256,2^nextpow2(nsc));
t=spectrogram(x,hamming(nsc),nov,nff);
maxerr=max(abs(abs(t(:))abs(s(:))))
maxerr=
0
Dividethesignalinto8sectionsofequallength,with50%overlapbetweensections.SpecifythesameFFT
lengthasintheprecedingstep.ComputetheshorttimeFouriertransformandverifythatitgivesthesame
resultastheprevioustwoprocedures.

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ns=8;
ov=0.5;
lsc=floor(Nx/(ns(ns1)*ov));
t=spectrogram(x,lsc,floor(ov*lsc),nff);
maxerr=max(abs(abs(t(:))abs(s(:))))
maxerr=
0

FrequencyAlongxAxis
Generateaquadraticchirp,x,sampledat1kHzfor2seconds.Thefrequencyofthe
chirpis100Hzinitiallyandcrosses200Hzatt=1s.

OpenThisExample

t=0:0.001:2;
x=chirp(t,100,1,200,'quadratic');
Computeanddisplaythespectrogramofx.

Dividethesignalintosectionsoflength128,windowedwithaHammingwindow.

Specify120samplesofoverlapbetweenadjoiningsections.

Evaluatethespectrumat
timebins.

frequenciesand

spectrogram(x,128,120,128,1e3)

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ReplacetheHammingwindowwithaBlackmanwindow.Decreasetheoverlapto60samples.Plotthetime
axissothatitsvaluesincreasefromtoptobottom.
spectrogram(x,blackman(128),60,128,1e3)
ax=gca;
ax.YDir='reverse';

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PowerSpectralDensitiesofChirps
ComputeanddisplaythePSDofeachsegmentofaquadraticchirpthatstartsat100Hz
andcrosses200Hzatt=1s.Specifyasamplerateof1kHz,asegmentlengthof128
samples,andanoverlapof120samples.Use128DFTpointsandthedefaultHamming
window.

OpenThisExample

t=0:0.001:2;
x=chirp(t,100,1,200,'quadratic');
spectrogram(x,128,120,128,1e3,'yaxis')
title('QuadraticChirp')

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ComputeanddisplaythePSDofeachsegmentofalinearchirpthatstartsatDCandcrosses150Hzatt=1
s.Specifyasamplerateof1kHz,asegmentlengthof256samples,andanoverlapof250samples.Usethe
defaultHammingwindowand256DFTpoints.
t=0:0.001:2;
x=chirp(t,0,1,150);
spectrogram(x,256,250,256,1e3,'yaxis')
title('LinearChirp')

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ComputeanddisplaythePSDofeachsegmentofalogarithmicchirpsampledat1kHzthatstartsat20Hz
andcrosses60Hzatt=1s.Specifyasegmentlengthof256samplesandanoverlapof250samples.Use
thedefaultHammingwindowand256DFTpoints.
t=0:0.001:2;
x=chirp(t,20,1,60,'logarithmic');
spectrogram(x,256,250,[],1e3,'yaxis')
title('LogarithmicChirp')

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Usealogarithmicscaleforthefrequencyaxis.Thespectrogrambecomesaline.
ax=gca;
ax.YScale='log';

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SpectrogramandInstantaneousFrequency
Usethespectrogramfunctiontomeasureandtracktheinstantaneousfrequencyofa
signal.

OpenThisExample

Generateaquadraticchirpsampledat1kHzfortwoseconds.Specifythechirpsothatitsfrequencyisinitially
100Hzandincreasesto200Hzafteronesecond.
Fs=1000;
t=0:1/Fs:21/Fs;
y=chirp(t,100,1,200,'quadratic');
EstimatethespectrumofthechirpusingtheshorttimeFouriertransformimplementedinthespectrogram
function.Dividethesignalintosectionsoflength100,windowedwithaHammingwindow.Specify80samples
ofoverlapbetweenadjoiningsectionsandevaluatethespectrumat
frequencies.Suppress
thedefaultcolorbar.
spectrogram(y,100,80,100,Fs,'yaxis')
view(77,72)
shadinginterp
colorbaroff

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Trackthechirpfrequencybyfindingthemaximumofthepowerspectraldensityateachofthe
timepoints.Viewthespectrogramasatwodimensionalgraphic.Restorethe
colorbar.
[s,f,t,p]=spectrogram(y,100,80,100,Fs);
[q,nd]=max(10*log10(p));
holdon
plot3(t,f(nd),q,'r','linewidth',4)
holdoff
colorbar
view(2)

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ReassignedSpectrogramofQuadraticChirp
Generateachirpsignalsampledfor2secondsat1kHz.Specifythechirpsothatits
frequencyisinitially100Hzandincreasesto200Hzafter1second.

OpenThisExample

Fs=1000;
t=0:1/Fs:2;
y=chirp(t,100,1,200,'quadratic');
Estimatethereassignedspectrogramofthesignal.

Dividethesignalintosectionsoflength128,windowedwithaKaiserwindowwithshapeparameter

Specify120samplesofoverlapbetweenadjoiningsections.

Evaluatethespectrumat
bins.

frequenciesand

.
time

spectrogram(y,kaiser(128,18),120,128,Fs,'reassigned','yaxis')

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SpectrogramwithThreshold
Generateachirpsignalsampledfor2secondsat1kHz.Specifythechirpsothatits
frequencyisinitially100Hzandincreasesto200Hzafter1second.

OpenThisExample

Fs=1000;
t=0:1/Fs:2;
y=chirp(t,100,1,200,'quadratic');
Estimatethetimedependentpowerspectraldensity(PSD)ofthesignal.

Dividethesignalintosectionsoflength128,windowedwithaKaiserwindowwithshapeparameter

Specify120samplesofoverlapbetweenadjoiningsections.

Evaluatethespectrumat
bins.

frequenciesand

.
time

OutputthefrequencyandtimeofthecenterofgravityofeachPSDestimate.Settozerothoseelementsof
thePSDsmallerthan
dB.
[~,~,~,pxx,fc,tc]=spectrogram(y,kaiser(128,18),120,128,Fs,...
'MinThreshold',30);
Plotthenonzeroelementsasfunctionsofthecenterofgravityfrequenciesandtimes.
plot(tc(pxx>0),fc(pxx>0),'.')

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SpectrogramReassignmentandThresholding
Generateasignalsampledat1024Hzfor2seconds.

OpenThisExample

nSamp=2048;
Fs=1024;
t=(0:nSamp1)'/Fs;
Duringthefirstsecond,thesignalconsistsofa400Hzsinusoidandaconcavequadraticchirp.Specifythe
chirpsothatitissymmetricabouttheintervalmidpoint,startingandendingatafrequencyof250Hzand
attainingaminimumof150Hz.
t1=t(1:nSamp/2);
x11=sin(2*pi*400*t1);
x12=chirp(t1t1(nSamp/4),150,nSamp/Fs,1750,'quadratic');
x1=x11+x12;
Therestofthesignalconsistsoftwolinearchirpsofdecreasingfrequency.Onechirphasaninitialfrequency
of250Hzthatdecreasesto100Hz.Theotherchirphasaninitialfrequencyof400Hzthatdecreasesto250
Hz.

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t2=t(nSamp/2+1:nSamp);
x21=chirp(t2,400,nSamp/Fs,100);
x22=chirp(t2,550,nSamp/Fs,250);
x2=x21+x22;
AddwhiteGaussiannoisetothesignal.Specifyasignaltonoiseratioof20dB.Resettherandomnumber
generatorforreproducibleresults.
SNR=20;
rng('default')
sig=[x1;x2];
sig=sig+randn(size(sig))*std(sig)/db2mag(SNR);
Computeandplotthespectrogramofthesignal.SpecifyaKaiserwindowoflength63withashapeparameter
,10fewersamplesofoverlapbetweenadjacentsegments,andanFFTlengthof256.
nwin=63;
wind=kaiser(nwin,17);
nlap=nwin10;
nfft=256;
spectrogram(sig,wind,nlap,nfft,Fs,'yaxis')

ThresholdthespectrogramsothatanyelementswithvaluessmallerthantheSNRaresettozero.
spectrogram(sig,wind,nlap,nfft,Fs,'MinThreshold',SNR,'yaxis')
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SpectrogramusingshorttimeFouriertransformMATLABspectrogram

ReassigneachPSDestimatetothelocationofitscenterofenergy.
spectrogram(sig,wind,nlap,nfft,Fs,'reassign','yaxis')

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SpectrogramusingshorttimeFouriertransformMATLABspectrogram

ThresholdthereassignedspectrogramsothatanyelementswithvaluessmallerthantheSNRaresettozero.
spectrogram(sig,wind,nlap,nfft,Fs,'reassign','MinThreshold',SNR,'yaxis')

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SpectrogramusingshorttimeFouriertransformMATLABspectrogram

TrackChirpsinAudioSignal
Loadanaudiosignalthatcontainstwodecreasingchirpsandawidebandsplattersound.
ComputetheshorttimeFouriertransform.Dividethewaveforminto400sample
segmentswith300sampleoverlap.Plotthespectrogram.

OpenThisExample

loadsplat
%Tohear,typesoundsc(y,Fs)
sg=400;
ov=300;
spectrogram(y,sg,ov,[],Fs,'yaxis')
colormapbone

Usethespectrogramfunctiontooutputthepowerspectraldensity(PSD)ofthesignal.
[s,f,t,p]=spectrogram(y,sg,ov,[],Fs);
Trackthetwochirpsusingthemedfreqfunction.Tofindthestronger,lowfrequencychirp,restrictthesearch
tofrequenciesabove100Hzandtotimesbeforethestartofthewidebandsound.

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SpectrogramusingshorttimeFouriertransformMATLABspectrogram

f1=f>100;
t1=t<0.75;
m1=medfreq(p(f1,t1),f(f1));
Tofindthefainthighfrequencychirp,restrictthesearchtofrequenciesabove2500Hzandtotimesbetween
0.3secondsand0.65seconds.
f2=f>2500;
t2=t>0.3&t<0.65;
m2=medfreq(p(f2,t2),f(f2));
Overlaytheresultonthespectrogram.Dividethefrequencyvaluesby1000toexpresstheminkHz.
holdon
plot(t(t1),m1/1000,'linewidth',4)
plot(t(t2),m2/1000,'linewidth',4)
holdoff

3DSpectrogramVisualization
Generatetwosecondsofasignalsampledat10kHz.Specifytheinstantaneous
frequencyofthesignalasatriangularfunctionoftime.

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fs=10e3;
t=0:1/fs:2;
x1=vco(sawtooth(2*pi*t,0.5),[0.10.4]*fs,fs);
Computeandplotthespectrogramofthesignal.UseaKaiserwindowoflength256andshapeparameter
.Specify220samplesofsectiontosectionoverlapand512DFTpoints.Plotthefrequencyonthey
axis.Usethedefaultcolormapandview.
spectrogram(x1,kaiser(256,5),220,512,fs,'yaxis')

Changetheviewtodisplaythespectrogramasawaterfallplot.Setthecolormaptobone.
colormapbone
view(45,65)

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RelatedExamples

FormantEstimationwithLPCCoefficients

InputArguments

collapseall

xInputsignal
vector
Inputsignal,specifiedasaroworcolumnvector.
Example:cos(pi/4*(0:159))+randn(1,160)specifiesasinusoidembeddedinwhiteGaussiannoise.
DataTypes:single|double
ComplexNumberSupport:Yes
windowWindow
integer|vector|[]
Window,specifiedasanintegerorasaroworcolumnvector.Usewindowtodividethesignalintosections:

Ifwindowisaninteger,thenspectrogramdividesxintosectionsoflengthwindowandwindowseach
sectionwithaHammingwindowofthatlength.

Ifwindowisavector,thenspectrogramdividesxintosectionsofthesamelengthasthevectorand
windowseachsectionusingwindow.

Ifthelengthofxcannotbedividedexactlyintoanintegernumberofsectionswithnoverlapoverlapping
samples,thenxistruncatedaccordingly.
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Ifyouspecifywindowasempty,thenspectrogramusesaHammingwindowsuchthatxisdividedintoeight
sectionswithnoverlapoverlappingsamples.
Foralistofavailablewindows,seeWindows.
Example:hann(N+1)and(1cos(2*pi*(0:N)'/N))/2bothspecifyaHannwindowoflengthN+1.
DataTypes:single|double
noverlapNumberofoverlappedsamples
positiveinteger|[]
Numberofoverlappedsamples,specifiedasapositiveinteger.

Ifwindowisscalar,thennoverlapmustbesmallerthanwindow.

Ifwindowisavector,thennoverlapmustbesmallerthanthelengthofwindow.

Ifyouspecifynoverlapasempty,thenspectrogramusesanumberthatproduces50%overlapbetween
sections.Ifthesectionlengthisunspecified,thefunctionsetsnoverlaptoNx/4.5,whereNxisthelengthof
theinputsignal.
DataTypes:double|single
nfftNumberofDFTpoints
positiveintegerscalar|[]
NumberofDFTpoints,specifiedasapositiveintegerscalar.Ifyouspecifynfftasempty,thenspectrogram
setstheparametertomax(256,2p),wherep=log2NxforaninputsignaloflengthNx.
DataTypes:single|double
wNormalizedfrequencies
vector
Normalizedfrequencies,specifiedasavector.wmusthaveatleasttwoelements.Normalizedfrequenciesare
inrad/sample.
Example:pi./[24]
DataTypes:double|single
fCyclicalfrequencies
vector
Cyclicalfrequencies,specifiedasavector.fmusthaveatleasttwoelements.Theunitsoffarespecifiedby
thesamplerate,fs.
DataTypes:double|single
fsSamplerate
1Hz(default)|positivescalar
Samplerate,specifiedasapositivescalar.Thesamplerateisthenumberofsamplesperunittime.Iftheunit
oftimeisseconds,thenthesamplingfrequencyisinHz.
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DataTypes:double|single
freqrangeFrequencyrangeforPSDestimate
'onesided'|'twosided'|'centered'
FrequencyrangeforthePSDestimate,specifiedas'onesided','twosided',or'centered'.Forreal
valuedsignals,thedefaultis'onesided'.Forcomplexvaluedsignals,thedefaultis'twosided',and
specifying'onesided'resultsinanerror.

'onesided'returnstheonesidedspectrogramofarealinputsignal.Ifnfftiseven,thenpshaslength
nfft/2+1andiscomputedovertheinterval[0,]rad/sample.Ifnfftisodd,thenpshaslength
(nfft+1)/2andtheintervalis[0,)rad/sample.Ifyouspecifyfs,thentheintervalsarerespectively
[0,fs/2]cycles/unittimeand[0,fs/2)cycles/unittime.

'twosided'returnsthetwosidedspectrogramofarealorcomplexsignal.pshaslengthnfftandis
computedovertheinterval[0,2)rad/sample.Ifyouspecifyfs,thentheintervalis[0,fs)cycles/unit
time.

'centered'returnsthecenteredtwosidedspectrogramforarealorcomplexsignal.pshaslength
nfft.Ifnfftiseven,thenpsiscomputedovertheinterval(,]rad/sample.Ifnfftisodd,thenpsis
computedover(,)rad/sample.Ifyouspecifyfs,thentheintervalsarerespectively
(fs/2,fs/2]cycles/unittimeand(fs/2,fs/2)cycles/unittime.

DataTypes:char
spectrumtypePowerspectrumscaling
'psd'(default)|'power'
Powerspectrumscaling,specifiedas'psd'or'power'.

Omittingspectrumtype,orspecifying'psd',returnsthepowerspectraldensity.

Specifying'power'scaleseachestimateofthePSDbytheequivalentnoisebandwidthofthewindow.
Theresultisanestimateofthepowerateachfrequency.Ifthe'reassigned'optionison,thefunction
integratesthePSDoverthewidthofeachfrequencybinbeforereassigning.

DataTypes:char
threshThreshold
Inf(default)|realscalar
Threshold,specifiedasarealscalarexpressedindecibels.spectrogramsetstozerothoseelementsofps
suchthat10log10(ps)thresh.
freqlocFrequencydisplayaxis
'xaxis'(default)|'yaxis'
Frequencydisplayaxis,specifiedas'xaxis'or'yaxis'.

'xaxis'displaysfrequencyonthexaxisandtimeontheyaxis.

'yaxis'displaysfrequencyontheyaxisandtimeonthexaxis.

Thisargumentisignoredifyoucallspectrogramwithoutputarguments.
DataTypes:char
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OutputArguments

collapseall

sShorttimeFouriertransform
matrix
ShorttimeFouriertransform,returnedasamatrix.Timeincreasesacrossthecolumnsofsandfrequency
increasesdowntherows,startingfromzero.

IfxisasignaloflengthNx,thenshaskcolumns,where

k=(Nxnoverlap)/(windownoverlap)ifwindowisascalar

k=(Nxnoverlap)/(length(window)noverlap)ifwindowisavector.

Ifxisrealandnfftiseven,thenshas(nfft/2+1)rows.

Ifxisrealandnfftisodd,thenshas(nfft+1)/2rows.

Ifxiscomplex,thenshasnfftrows.

DataTypes:double|single
wNormalizedfrequencies
vector
Normalizedfrequencies,returnedasavector.whasalengthequaltothenumberofrowsofs.
DataTypes:double|single
tTimeinstants
vector
Timeinstants,returnedasavector.Thetimevaluesintcorrespondtothemidpointofeachsection.
DataTypes:double|single
fCyclicalfrequencies
vector
Cyclicalfrequencies,returnedasavector.fhasalengthequaltothenumberofrowsofs.
DataTypes:double|single
psPowerspectraldensityorpowerspectrum
matrix
Powerspectraldensity(PSD)orpowerspectrum,returnedasamatrix.

Ifxisreal,thenpscontainstheonesidedmodifiedperiodogramestimateofthePSDorpowerspectrumof
eachsection.

Ifxiscomplex,orifyouspecifyavectoroffrequencies,thenpscontainsthetwosidedmodified
periodogramestimateofthePSDorpowerspectrumofeachsection.

DataTypes:double|single
fc,tcCenterofenergyfrequenciesandtimes
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matrices
Centerofenergyfrequenciesandtimes,returnedasmatricesofthesamesizeastheshorttimeFourier
transform.Ifyoudonotspecifyasamplerate,thentheelementsoffcarereturnedasnormalized
frequencies.

MoreAbout

collapseall

Tips
IfashorttimeFouriertransformhaszeros,itsconversiontodecibelsresultsinnegativeinfinitiesthatcannot
beplotted.Toavoidthispotentialdifficulty,spectrogramaddsepstotheshorttimeFouriertransformwhen
youcallitwithnooutputarguments.

References
[1]Oppenheim,AlanV.,RonaldW.Schafer,andJohnR.Buck.DiscreteTimeSignalProcessing.2ndEd.Upper
SaddleRiver,NJ:PrenticeHall,1999.
[2]Rabiner,LawrenceR.,andRonaldW.Schafer.DigitalProcessingofSpeechSignals.EnglewoodCliffs,NJ:
PrenticeHall,1978.
[3]ChassandeMotin,ric,FranoisAuger,andPatrickFlandrin."Reassignment."InTimeFrequencyAnalysis:
ConceptsandMethods.EditedbyFranzHlawatschandFranoisAuger.London:ISTE/JohnWileyandSons,
2008.
[4]Fulop,SeanA.,andKellyFitz."Algorithmsforcomputingthetimecorrectedinstantaneousfrequency
(reassigned)spectrogram,withapplications."JournaloftheAcousticalSocietyofAmerica.Vol.119,January
2006,pp.360371.

SeeAlso
goertzel|periodogram|pwelch

IntroducedbeforeR2006a

http://www.mathworks.com/help/signal/ref/spectrogram.html?refresh=true

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