This was an interesting chapter, seeing more in depth how signal processing and cleanup is done. However it would have been nicer to see the application earlier in the section, rather than just briefly at the end. It might have made it easier to follow what the section was covering.
I really struggled understanding what all the omegas, capital W's, and boldface w's were. Something about forming an orthonormal basis for something, but I don't quite understand what for, let alone what the matrix representation is supposed to be.
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