diff --git a/.~lock.greenpaper6 0.5 1 1 0.txt# b/.~lock.greenpaper6 0.5 1 1 0.txt# new file mode 100644 index 0000000000000000000000000000000000000000..3ad34c95037bfd2a7ce8c932bd71642e091c1322 --- /dev/null +++ b/.~lock.greenpaper6 0.5 1 1 0.txt# @@ -0,0 +1 @@ +,thomas,ubuntu,20.01.2019 14:38,file:///home/thomas/.config/libreoffice/4; \ No newline at end of file diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o index f30f236064edb6140b187cbbb6066c955a17d059..3ef87b8eedcb54cd508c46d473c701cb1b8b0ead 100644 Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o differ diff --git a/apps/specular_estimation/src/Ceres.h b/apps/specular_estimation/src/Ceres.h index 77dc592fc0d5c7990bbb22b9c4ee7169b3e2ae4f..63d02ba811b0fe70447b3f0e218e6283cde0c23f 100644 --- a/apps/specular_estimation/src/Ceres.h +++ b/apps/specular_estimation/src/Ceres.h @@ -94,80 +94,6 @@ class MyScalarCostFunctor { std::string outputFileName_; }; -class MyScalarCostFunctor2 { - public: - MyScalarCostFunctor2(std::string outputFileName, double residualValue, cv::Vec3d residual, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages):outputFileName_(outputFileName), residualValue_(residualValue), residual_(residual), totalResidual_(totalResidual), residualImage_(residualImage), depthProjectionMatrix_(depthProjectionMatrix), depthViewMatrix_(depthViewMatrix), width_(width), height_(height), numberOfLights_(numberOfLights), SpecularIntensityID_(SpecularIntensityID), SpecularPowerID_(SpecularPowerID), programID_(programID), ModelMatrixID_(ModelMatrixID), ViewMatrixID_(ViewMatrixID), DepthBiasID_(DepthBiasID), lightInvDirID_(lightInvDirID), Texture_(Texture), TextureID_(TextureID), depthTexture_(depthTexture), ShadowMapID_(ShadowMapID), vertexbuffer_(vertexbuffer), uvbuffer_(uvbuffer), normalbuffer_(normalbuffer), elementbuffer_(elementbuffer), indices_(indices), MatrixID_(MatrixID), ModelMatrix_(ModelMatrix), MVP_(MVP), ViewMatrix_(ViewMatrix), depthBiasMVP_(depthBiasMVP), lightInvDirs_(lightInvDirs), textureImages_(textureImages){} - - bool operator()(const double* const Gain, const double* const Bias, double* residualValue) const { - - double specularIntensity = 0; - double specularPower = 2; - double gain = double(Gain[0]); - double bias = double(Bias[0]); - - double sum = 0; - - for (int i = 0; i < numberOfLights_; i++) { - // Render the polygons - renderPolygons(width_, height_, programID_, lightInvDirs_[i], MatrixID_, ModelMatrixID_, ViewMatrixID_, DepthBiasID_, lightInvDirID_, Texture_, TextureID_, depthTexture_, ShadowMapID_, vertexbuffer_, uvbuffer_, normalbuffer_, elementbuffer_, indices_, MVP_, ModelMatrix_, ViewMatrix_, depthBiasMVP_, SpecularIntensityID_, specularIntensity, SpecularPowerID_, specularPower); - - // Calculate the residual - meanSquaredError(i, height_, width_, textureImages_, sum, gain, bias); - //structuralSimilarityIndex(i, height_, width_, textureImages_, sum, gain, bias); - - // Swap buffers - glfwSwapBuffers(window); - glfwPollEvents(); - } - - //std::cout << "Specular Intensity = " << specularIntensity << ", Specular Power = " << specularPower << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl; - //std::cout << specularIntensity << "\t" << specularPower << "\t" << gain << "\t" << bias << "\t" << (sum/numberOfLights_) << std::endl; - - outputToFile(outputFileName_, specularIntensity, specularPower, gain, bias, (sum/numberOfLights_)); - - residualValue[0] = (sum/numberOfLights_); - return true; - } - - private: - int width_; - int height_; - GLuint programID_; - std::vector<glm::vec3> lightInvDirs_; - GLuint MatrixID_; - GLuint ModelMatrixID_; - GLuint ViewMatrixID_; - GLuint DepthBiasID_; - GLuint lightInvDirID_; - GLuint Texture_; - GLuint TextureID_; - GLuint depthTexture_; - GLuint ShadowMapID_; - GLuint vertexbuffer_; - GLuint uvbuffer_; - GLuint normalbuffer_; - GLuint elementbuffer_; - std::vector<unsigned int> indices_; - glm::mat4 MVP_; - glm::mat4 ModelMatrix_; - glm::mat4 ViewMatrix_; - glm::mat4 depthBiasMVP_; - GLuint SpecularIntensityID_; - GLuint SpecularPowerID_; - - double residualValue_; - cv::Vec3d residual_; - std::vector<cv::Vec3d> residuals_; - double totalResidual_; - cv::Mat residualImage_; - glm::mat4 depthProjectionMatrix_; - glm::mat4 depthViewMatrix_; - int numberOfLights_; - - std::vector<cv::Mat> textureImages_; - std::string outputFileName_; -}; - void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& Gain, double& Bias, std::string imageName, double residualValue, cv::Vec3d residual, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages) { // The variable to solve for with its initial value. It will be mutated in place by the solver. @@ -176,10 +102,12 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub const double initialGain = Gain; const double initialBias = Bias; + // Create the file name of the log with the initial parameters std::ostringstream stm; stm << imageName << " " << initialSpecularIntensity << " " << initialSpecularPower << " " << initialGain << " " << initialBias << ".txt"; std::string outputFileName = stm.str(); std::ofstream outputFile(outputFileName, std::ios::trunc); // Erase the previous contents of the file + outputFile << "Specular Intensity" << "\t" << "Specular Power" << "\t" << "Gain" << "\t" << "Bias" << "\t" << "Resiudal" << std::endl; // Build the problem. ceres::Problem problem; @@ -196,22 +124,46 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub problem.SetParameterLowerBound(&SpecularPower, 0, 0.01); problem.SetParameterLowerBound(&Gain, 0, 0); problem.SetParameterUpperBound(&Gain, 0, 2); - problem.SetParameterLowerBound(&Bias, 0, -1); - problem.SetParameterUpperBound(&Bias, 0, 1); - - /*ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor2, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor2(outputFileName, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages)); - std::vector<ceres::ResidualBlockId> residual_block_ids; - ceres::ResidualBlockId block_id = problem.AddResidualBlock(cost_function, NULL, &Gain, &Bias); - residual_block_ids.push_back(block_id); - - problem.SetParameterLowerBound(&Gain, 0, 0); + //problem.SetParameterBlockConstant(&Gain); + //problem.SetParameterBlockConstant(&Bias); + /*problem.SetParameterLowerBound(&Gain, 0, 0); problem.SetParameterUpperBound(&Gain, 0, 2); problem.SetParameterLowerBound(&Bias, 0, -1); problem.SetParameterUpperBound(&Bias, 0, 1);*/ - // Run the solver! + // Run the solver Solver::Options options; options.minimizer_progress_to_stdout = true; + // Set minimum step size + /* + double Solver::Options::line_search_sufficient_function_decrease + Default: 1e-4 + + Solving the line search problem exactly is computationally prohibitive. Fortunately, line search based optimization algorithms can still guarantee convergence if instead of an exact solution, the line search algorithm returns a solution which decreases the value of the objective function sufficiently. More precisely, we are looking for a step size s.t. + + \[f(\text{step_size}) \le f(0) + \text{sufficient_decrease} * [f'(0) * \text{step_size}]\] + This condition is known as the Armijo condition. + + double Solver::Options::max_line_search_step_contraction + Default: 1e-3 + + In each iteration of the line search, + + \[\text{new_step_size} >= \text{max_line_search_step_contraction} * \text{step_size}\] + Note that by definition, for contraction: + + \[0 < \text{max_step_contraction} < \text{min_step_contraction} < 1\] + double Solver::Options::min_line_search_step_contraction + Default: 0.6 + + In each iteration of the line search, + + \[\text{new_step_size} <= \text{min_line_search_step_contraction} * \text{step_size}\] + Note that by definition, for contraction: + + \[0 < \text{max_step_contraction} < \text{min_step_contraction} < 1\] + */ + Solver::Summary summary; Solve(options, &problem, &summary); diff --git a/apps/specular_estimation/src/OpenCV.h b/apps/specular_estimation/src/OpenCV.h index 0f65b8d6d9241f1d97535b277ca0d4e7982bc829..59b37642f6f506701ec85b0918a8881cb4c00e43 100644 --- a/apps/specular_estimation/src/OpenCV.h +++ b/apps/specular_estimation/src/OpenCV.h @@ -49,6 +49,18 @@ double getMSSIM(const cv::Mat& i1, const cv::Mat& i2); cv::Mat contrastBrightness(cv::Mat image, double gain, double bias); cv::Mat contrastBrightness(cv::Mat image, double gain = 1.0, double bias = 0.0) { + cv::Mat new_image = cv::Mat::zeros( image.size(), CV_64FC3 ); + for ( int y = 0; y < image.rows; y++ ) { + for ( int x = 0; x < image.cols; x++ ) { + for ( int c = 0; c < image.channels(); c++ ) { + new_image.at<cv::Vec3d>(y,x)[c] = cv::saturate_cast<double>( gain*image.at<cv::Vec3d>(y,x)[c] + bias ); + } + } + } + return new_image; +} + +/*cv::Mat contrastBrightness(cv::Mat image, double gain = 1.0, double bias = 0.0) { cv::Mat new_image = cv::Mat::zeros( image.size(), image.type() ); for ( int y = 0; y < image.rows; y++ ) { for ( int x = 0; x < image.cols; x++ ) { @@ -58,7 +70,7 @@ cv::Mat contrastBrightness(cv::Mat image, double gain = 1.0, double bias = 0.0) } } return new_image; -} +}*/ inline unsigned char Clamp(int n) { diff --git a/apps/specular_estimation/src/OpenGL.h b/apps/specular_estimation/src/OpenGL.h index fa494cec9ca4576806e613f135ba464157a9ec57..e963baa050f6727c5c81def5809493247dbf4a15 100644 --- a/apps/specular_estimation/src/OpenGL.h +++ b/apps/specular_estimation/src/OpenGL.h @@ -559,19 +559,21 @@ void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::ve void meanSquaredError(int imageNumber, int windowHeight, int windowWidth, std::vector<cv::Mat> textureImages, double& sum, double gain, double bias) { // Create an empty Mat the same size as the image - cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3); - cv::Mat residual = cv::Mat(windowHeight, windowWidth, CV_8UC3); - cv::Mat sumOfSquaredDifferences = cv::Mat(windowHeight, windowWidth, CV_16UC3); + cv::Mat model = cv::Mat(windowHeight, windowWidth, CV_8UC3); + cv::Mat residual = cv::Mat(windowHeight, windowWidth, CV_64FC3); + cv::Mat squaredDifferences = cv::Mat(windowHeight, windowWidth, CV_64FC3); + cv::Mat textureImage = textureImages[imageNumber]; // Read the image into the Mat as an 8-bit colour image - glReadPixels(0, 0, windowWidth, windowHeight, GL_BGR, GL_UNSIGNED_BYTE, temp.data); + glReadPixels(0, 0, windowWidth, windowHeight, GL_BGR, GL_UNSIGNED_BYTE, model.data); // 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two. - cv::flip(temp, temp, 0); + cv::flip(model, model, 0); - //temp = addNoise(temp, 0.001); + //model = addNoise(model, 0.001); - temp = contrastBrightness(temp, gain, bias); + //model = contrastBrightness(model, gain, bias); + model.convertTo(model, CV_64FC3, gain, bias); //cv::Mat textureImage = contrastBrightness(textureImages[imageNumber], gain, bias); /*cv::Mat texture = textureImages[imageNumber]; @@ -579,19 +581,20 @@ void meanSquaredError(int imageNumber, int windowHeight, int windowWidth, std::v texture.convertTo(texture, CV_8UC3);*/ // Calculate the absolute differences between the model and the photograph - cv::absdiff(temp, textureImages[imageNumber], residual); - //cv::absdiff(temp, textureImage, residual); + textureImage.convertTo(textureImage, CV_64FC3); + cv::absdiff(model, textureImage, residual); + //cv::absdiff(model, textureImage, residual); // Square each element - multiply(residual, residual, sumOfSquaredDifferences); + multiply(residual, residual, squaredDifferences); // Crop a 1-pixel border around the residual residual = residual(cv::Rect(1, 1, windowWidth-2, windowHeight-2)); - sumOfSquaredDifferences = sumOfSquaredDifferences(cv::Rect(1, 1, windowWidth-2, windowHeight-2)); + squaredDifferences = squaredDifferences(cv::Rect(1, 1, windowWidth-2, windowHeight-2)); - sum += (cv::sum(residual)[0] + cv::sum(residual)[1] + cv::sum(residual)[2])/(3 * (windowHeight-2) * (windowWidth-2)); - //sum = (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2])/(windowHeight-2 * windowWidth-2); - //sum += (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2]); + sum += (cv::sum(squaredDifferences)[0] + cv::sum(squaredDifferences)[1] + cv::sum(squaredDifferences)[2])/(3 * (windowHeight-2) * (windowWidth-2)); + //sum = (cv::sum(squaredDifferences)[0] + cv::sum(squaredDifferences)[1] + cv::sum(squaredDifferences)[2])/(windowHeight-2 * windowWidth-2); + //sum += (cv::sum(squaredDifferences)[0] + cv::sum(squaredDifferences)[1] + cv::sum(squaredDifferences)[2]); } void structuralSimilarityIndex(int imageNumber, int windowHeight, int windowWidth, std::vector<cv::Mat> textureImages, double& sum, double gain, int bias) { diff --git a/apps/specular_estimation/src/ShadowMapping.fragmentshader b/apps/specular_estimation/src/ShadowMapping.fragmentshader index 02348908da47c760a1911653772307d804dccdef..b1067907a03de6d40b6cf381d677bf6f8b00b5e2 100644 --- a/apps/specular_estimation/src/ShadowMapping.fragmentshader +++ b/apps/specular_estimation/src/ShadowMapping.fragmentshader @@ -63,13 +63,13 @@ void main() { // Material properties float ambientPower = 0.0f; - vec3 MaterialDiffuseColor = texture( myTextureSampler, UV ).rgb; - vec3 MaterialAmbientColor = vec3(ambientPower, ambientPower, ambientPower) * MaterialDiffuseColor; + vec3 MaterialDiffuseColor = texture( myTextureSampler, UV ).rgb; + vec3 MaterialAmbientColor = vec3(ambientPower, ambientPower, ambientPower) * MaterialDiffuseColor; //vec3 MaterialSpecularColor = vec3(clampSpecular(length(MaterialDiffuseColor), specularIntensity), clampSpecular(length(MaterialDiffuseColor), specularIntensity), clampSpecular(length(MaterialDiffuseColor), specularIntensity)); - vec3 MaterialSpecularColor = vec3(clampSpecular(texture(myTextureSampler, UV).r, specularIntensity), clampSpecular(texture(myTextureSampler, UV).g, specularIntensity), clampSpecular(texture(myTextureSampler, UV).b, specularIntensity)); + //vec3 MaterialSpecularColor = vec3(clampSpecular(texture(myTextureSampler, UV).r, specularIntensity), clampSpecular(texture(myTextureSampler, UV).g, specularIntensity), clampSpecular(texture(myTextureSampler, UV).b, specularIntensity)); - //vec3 MaterialSpecularColor = vec3(specularIntensity, specularIntensity, specularIntensity); + vec3 MaterialSpecularColor = vec3(specularIntensity, specularIntensity, specularIntensity); //vec3 MaterialSpecularColor = texture( myTextureSampler, UV ).rgb; // Distance to the light @@ -134,19 +134,13 @@ void main() { // if ( texture( shadowMap, (ShadowCoord.xy/ShadowCoord.w) ).z < (ShadowCoord.z-bias)/ShadowCoord.w ) // if ( textureProj( shadowMap, ShadowCoord.xyw ).z < (ShadowCoord.z-bias)/ShadowCoord.w ) - //color = - // Ambient: simulates indirect lighting - //MaterialAmbientColor + - // Diffuse: "colour" of the object - //visibility * MaterialDiffuseColor * LightColor * LightPower * cosTheta + - // Specular: reflective highlight, like a mirror - //visibility * MaterialSpecularColor * LightColor * LightPower * pow(cosAlpha, specularPower); - color = // Ambient: simulates indirect lighting //MaterialAmbientColor + // Diffuse: "colour" of the object - ((visibility * MaterialDiffuseColor * LightColor * LightPower * cosTheta) / 3.1415926535897932384626433832795 ) + + visibility * MaterialDiffuseColor * LightColor * LightPower * cosTheta + + //((visibility * MaterialDiffuseColor * LightColor * LightPower * cosTheta) / 3.1415926535897932384626433832795 ) + // Specular: reflective highlight, like a mirror - visibility * MaterialSpecularColor * LightColor * LightPower * ((specularPower + 2)/(6.283185307179586476925286766559)) * pow(cosAlpha, specularPower); + visibility * MaterialSpecularColor * LightColor * LightPower * pow(cosAlpha, specularPower); + //visibility * MaterialSpecularColor * LightColor * LightPower * ((specularPower + 2)/(6.283185307179586476925286766559)) * pow(cosAlpha, specularPower); } diff --git a/bin/specular_estimation b/bin/specular_estimation index d8ea06519ea74426c77c160a645886f25f303f7c..fd6d15cd7a36ea014421955acb65b0530e8c815f 100755 Binary files a/bin/specular_estimation and b/bin/specular_estimation differ diff --git a/greenpaper6 0.5 1 1 0.txt b/greenpaper6 0.5 1 1 0.txt index e9a80fb17651fa6c730082e8152175fd11685264..0ad1bf29c6a8904a16bd55c9cd7d4e4e705626cd 100644 --- a/greenpaper6 0.5 1 1 0.txt +++ b/greenpaper6 0.5 1 1 0.txt @@ -1,6 +1,633 @@ -0 2 1 0 85.3796 -0 2 1 0 85.3796 -0 2 0.999999 0 85.3796 -0 2 1 1.49012e-08 85.3796 -0 2 1 -1.49012e-08 85.3796 -0 2 1 0 85.3796 +Specular Intensity Specular Power Gain Bias Resiudal +0.5 1 1 0 2793.5 +0.5 1 1 0 2793.5 +0.499999 1 1 0 2793.5 +0.5 1 1 0 2793.5 +0.5 0.999999 1 0 2793.5 +0.5 1 1 0 2793.5 +0.5 1 0.999999 0 2793.5 +0.5 1 1 1.49012e-08 2793.5 +0.5 1 1 -1.49012e-08 2793.5 +1 1 2.14147 14.8488 60200.6 +1 1 2.14147 14.8488 60200.7 +0.999999 1 2.14147 14.8488 60200.4 +1 1 2.14147 14.8488 60200.5 +1 0.999999 2.14147 14.8488 60200.6 +1 1 2.14148 14.8488 60200.7 +1 1 2.14147 14.8488 60200.4 +1 1 2.14147 14.8488 60200.6 +1 1 2.14147 14.8488 60200.6 +0.819739 1 1.58983 7.67276 15935.7 +0.81974 1 1.58983 7.67276 15935.7 +0.819739 1 1.58983 7.67276 15935.6 +0.819739 1 1.58983 7.67276 15935.7 +0.819739 0.999999 1.58983 7.67276 15935.7 +0.819739 1 1.58983 7.67276 15935.7 +0.819739 1 1.58983 7.67276 15935.6 +0.819739 1 1.58983 7.67277 15935.7 +0.819739 1 1.58983 7.67275 15935.7 +0.640237 1 1.2587 3.36526 4399.85 +0.640238 1 1.2587 3.36526 4399.86 +0.640237 1 1.2587 3.36526 4399.84 +0.640237 1 1.2587 3.36526 4399.85 +0.640237 0.999999 1.2587 3.36526 4399.86 +0.640237 1 1.2587 3.36526 4399.86 +0.640237 1 1.2587 3.36526 4399.84 +0.640237 1 1.2587 3.36527 4399.85 +0.640237 1 1.2587 3.36526 4399.85 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537898 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 0.999999 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909457 2790.7 +0.537899 1 1.06991 0.909455 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537898 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 0.999999 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 +0.537899 1 1.06991 0.909456 2790.7 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