Hairstyle Construction from Raw Surface Data
←
→
Page content transcription
If your browser does not render page correctly, please read the page content below
Hairstyle Construction from Raw Surface Data Gerrit Sobottka, Michael Kusak, Andreas Weber Institute of Computer Science II, University of Bonn, Germany {sobottka, kusak,weber}@cs.uni-bonn.de Abstract approximations of the object boundaries on rectilinear grids We present a novel approach to the problem of hairstyle construc- to tackle the penetration problem. Moreover, this approach tion from raw surface data such as the ones obtained from surface alone cannot account for other geometries than soft curves scans. Our approach is based on a shape matching algorithm that with small curvature. In [17] Yu pursues a similar approach fits individual hair fibers into a given volume according to a set of by exploiting the analogy between smooth vector fields and boundary conditions and additional hair density information. Our hair flow. Procedurally generated vector field primitives are method employs a mechanical rod model based on the special theory of Cosserat rods. Such models can efficiently be used to simulate the superimposed to obtain complex hairstyles. In [16] Xu and deformation of individual fibers in subsequent manipulation steps. Yang presented a modeling tool based on a cluster hair model. Simple operations are used for the interactive creation Keywords—Hair modeling, hairstyle construction, hair volume, surface data, optimization, fibers, Cosserat rods and manipulation of hair clusters. In the same spirit, Kim and Neumann [9] present a so called multi resolution hair 1 Introduction modelling system wherein hair is modeled on a per-cluster basis. The full hairstyle in obtained from a sequence of copy Generating realistic looking hairstyles is an unresolved and paste, curling and moving operations of hair primitives problem in the realm of computer graphics. Standard ap- as well as user driven refinements of individual clusters to proaches still require a high degree of manual effort because add more detail to the hairstyle. Recently, Choe and Ko [4] the main flow directions must be given in terms of guide hairs. presented a hair styling tool that is based on a pseudo-physical Whereas the problem of reconstructing local hair geometries approach. Similar to ours, it uses force as well as density fields out of sequences of photographs has been addressed recently, to approximate the impact of gravity and hair-hair interaction, the problem of hair style generation from raw surface data respectively. has not been incorporated in existing approaches so far. The aforementioned approaches have in common that Such surface data can be obtained from scans of sculptures. hairstyles are manually modeled with interactive tools. The The boundaries of the hairstyle are defined by the scalp as computer vision approach, on the other hand, which primarily well as the hair volume surface. A possibility to construct aims at the reconstruction of hairstyles from a set of photos plausible hairstyles considering the volume boundaries is of has recently gained increased attention. great interest for different purposes, e.g. in the context of Haider and Kaneko [8] proposed an algorithm for hair virtual heritage projects. volume reconstruction from a set of video captured images. Our contribution: We present a new approach to the A hairless 3D head model obtained from CT scans is used for problem of constructing realistic looking hairstyles from raw the registration of camera parameters. After segmentation of surface data. In contrast to other approaches our algorithm the hair region in the images and the registration of the camera is automated, yet fully customizable by the user through the positions a three dimensional hair volume is computed. The specification of only a handful of parameters. No manual extracted hair texture is then mapped to the model. This is interactions are required. To model the hair fibers we employ in fact a pure volume based model because no hair fibers are a mechanical model based on the special theory of Cosserat generated. Recently, Paris et al. [13] proposed an algorithm rods. Our approach is thus physical and allows us to estimate for hair geometry reconstruction from a set of images taken the magnitude of forces occurring inside the hair volume. under variable lighting conditions. Different filter operations are applied to these images to determine the orientation of each 2 Related Work pixel. From these data the full hairstyle is computed according In the last few years several approaches to the hairstyle to the visual hull and additional information like camera generation problem have been introduced. Lee et al. [10] pre- positions. The most impressing results, however, are obtained sented a system for hairstyle creation which allows interactive with the image based approach of Wei et al. [15]. Only a manipulation of computer generated hairstyles using a motion set of images taken under uncontrolled lighting conditions are tracking device. Hadap and Thalmann [7] presented a method needed. The orientation of each hair segment is triangulated that models the hair geometry as ideal fluid flow. Sources with orientation information from multiple views. The shape are placed along the scalp surface to prevent streamlines of the skull is approximated by an offset surface of the visual from penetrating the object boundaries. However, even high hull. source densities cannot guarantee a penetration free hairstyle. The reconstruction with these approaches requires that local This is closely related to our approach as we use linear orientation information are given or can at least be recon-
3.1 Special Theory of Cosserat Rods To simulate a single hair fiber we employ a mechanical rod model based on the special theory of Cosserat rods [1]. Let r(s) : [a, b] ∈ R 7→ R3 be a smooth space curve of length L describing the centerline of a hair fiber. Further, let {di (s)} be a set of orthogonal directors furnishing the space curve such that d1 , d2 span the cross section plane and d3 = r0 is tangent to space curve, where (·)0 denotes the derivative with respect to arc length. The special theory of Cosserat rods [1] Fig. 1. The input for our model is given by the scalp and the hair volume used herein describes the deformation of a long thin elastic surface. The extraction of the surfaces from sculpture scans are beyond the rod subject to external loads. Since we are only interested in scope of this paper and left as a black box process. the equilibrium configurations the static equations governing this state are given as structed. Thus, these algorithms cannot be used for sculpture n0 + f = 0, (1) scans, by which only the boundary corresponding to the visual 0 m +r ×n+g0 = 0, (2) hull is given. where n and m are the contact force and contact couple at the cross sectional area, respectively. f and g are the external 3 Outline of the Algorithm forces and moments acting on the rod. Further, we have the kinematic relation Our algorithm takes as input the scalp surface SS , and, in addition, the boundary SH of an associated hair volume, d0i = u × di . (3) cf. Fig. 1. Starting from a sculpture scan the basic task is Here, u indicates the twist vector and expresses the local to decompose the surface of the sculpture into the required bending and twist about the three directors. The relation input data. One possibility to solve this difficult problem is between local deformations expressed by the twist vector to generate a scalp surface as an offset surface from the and the material properties is given by suitable constitutive hair volume boundary. However, this is a rather approximate laws. For our purposes we assume the rod to be hyper-elastic, solution at best. A more promising approach is to search for unshearable, and inextensible. Hence, the constitutive relation a similar hair-less head model in a large data set of head takes the simple form m = C · (u − û), where C is a diagonal models and to subtract it from the sculpture scan to obtain matrix describing the material’s resistance against bending and the hair volume. This approach is similar to the morphable twist about the three axes: head models of Blanz and Vetter [2]. We have not employed a fully automated method for this preprocessing step. For our EI1 0 0 examples we have generated some examples semi-manually. C= 0 EI2 0 . (4) This pre-processing step can be taken as a black box for the 0 0 GA following algorithm, which is the main topic of this paper. Here, we can work with authentic material properties of Given the boundaries defined by the scalp as well as human hair of E = 3.89 · 1010 and G = 0.89 · 1010 dynes/cm the hair volume surface we solve an optimization problem for Young’s modulus and the shear modulus, respectively. The in order to find optimal terminal force-torque pairs which vector û describes the default twist of the rod and I1,2 are deform the fibers to an “optimal” configuration according the principal moments of inertia of the cross section A (≈ to their distances from the boundaries as well as local hair 1.5 · 10−5 cm2 ). density information. Technically, we solve an unconstrained Since the filaments are clamped at the scalp and can freely optimization problem by formulating various “contraints” as move at the other end, we obtain the following boundary “soft constraints”. Since our starting basis is an empty volume conditions: r(0) = r0 , d1 (0) = d10 , d2 (0) = d20 , f (L) = fL , we first generate a set of pre-guides which coarsely sample the and t(L) = tL , where fL and tL are the external force and main flow directions for principal guide generation. After the torque acting at s = L. optimization process we compute for each principal guide a Thus, we have to solve boundary value problems for a hair strand (wisp) employing a simple strand generator. We coupled system of ordinary differential equations. Standard refer to the volume encapsulated by the scalp surface and BVP solvers are often based on shooting techniques which the hair volume surface as acceptable region. The transition usually perform at slow convergence rates. In [11] a solution between the acceptable region and the non-acceptable or method for this particular type of boundary value problem forbidden region is smooth. based on the Kirchhoff kinetic analogy is proposed. In [14] In the following we will discuss in detail the components a simple energy minimization scheme is proposed that is of our system needed to generate hairstyles from raw surface also capable of handling intermediate boundary conditions. data. In [12] Pai introduces a rather approximate solution scheme
by decoupling the kinematic relations from the balance laws. the above cannot avoid distortion of the texture in general. Unfortunately, this approach treats forces and torques with We found that carefully chosen parameters can minimize such respect to the local systems which transforms each force into a effects for meshes with simple topologies like the scalp surface follower load, a problem which is discussed in more detail in which resembles a hemisphere. The remaining distortion is [14]. In order to enable the incorporation of different solution advantageous in the sense that it deforms circular base areas schemes we parameterized our system with different solution into more elliptical ones. schemes for BVPs. The hair density, the growth directions, and the hair length distributions are encoded in a texture bitmap by means of 3.2 Boundary Representation grey values. Unfortunately, little empirical facts about the real Another central problem we have to deal with is the efficient growth direction distribution on the scalp can be found in the representation of the scalp as well as the hair volume surface, literature. From our own observations we know that hair in the such that hairs are prevented from occupying the forbidden temporal as well as the occipital region of the head growth in area outside the boundaries. For this purpose, we compute for tangential direction rather than normal to the surface. This is the surfaces SS and SH an implicit linear approximation or an important fact to consider as it allows for more realistic distance field ΦS which is a scalar mapping ΦS : R3 → R looking hairstyles, as is demonstrated by our results. such that The guides are deformed according to the scheme that is ΦS (x) := min {|x − q|}, ∀x ∈ R3 . (5) described in the following section. q∈S 3.4 Guide Generation We decided to use simple a rectilinear grid because of im- proved performance over octree encodings; notice that the in- With the rod model defined above and the definition of crease in memory costs is negligible for our applications. Since the linear approximation of the boundary surfaces at hand we do not assume that the mesh obtained in the preprocessing we can now develop an algorithm to keep the fibers inside steps is closed, we only compute a distance envelope of a the acceptable region and follow the flow defined by the pre- predefined thickness. This is done using the method of char- guides. We define as ηL = {fL , tL } the terminal end load acteristics [3]. For each feature of the underlying meshes the acting on a fiber at s = L. In particular, we seek a terminal corresponding Voronoi region is computed. We then calculate end load ηL∗ consisting of a force and a torque that minimizes the distances of all grid points within a Voronoi region to an objective function which we will describe next. Thus, our the corresponding feature using a scan conversion algorithm. optimization problem is a six-dimensional one. It is possible to sign the distances by taking into account One might be wondering why a terminal force-torque pair the direction of the normal of each triangle. The normals of is sufficient? However, the reason is rather obvious: using the triangles indicate the “exterior” if the underlying mesh is a terminal force-torque pair allows one to model arbitrary oriented. The signs of the distances are then chosen according configurations including helices. A terminal force alone can to the signs of the scalar products of the point’s local position only generate arcs whereas the additional incorporation of vectors and the normals of the triangles to which the closest torques extends the variety of possible shapes. In principle, it is feature belongs. For a given point the distance to a surface also possible to use intermediate loads but this only increases can be computed by means of a trilinear interpolation over the dimension of the underlying optimization problem. Direct the distances at the eight corner points of the corresponding control of bending angles as was proposed by [4] does not cell. guarantee a continuous curve as is the case when we use a mechanical rod model. 3.3 Hair Distribution and Growth Directions Pre-Guide Generation: The pre-guides are generated ac- In order to allow for an uniform distribution of the hair cording to the following scheme: First the base points for the pores on the scalp surface SS we parameterize it using a pre-guides are distributed with a low density of 1 fiber per conformal mapping C : R3 7→ R2 such that the surface is cm or less, cf. Sect. 3.3. Then we rotate the pre-guides into projected onto the plane by using a Floater parameterization the direction of the corresponding growth normals. After the [5], which guarantees a one-to-one mapping. The parameter pre-guides took their initial positions we iteratively increase domain is mapped onto the unit circle. We then compute a terminal end load until the extremities immerses into the a homogeneous point distribution and map it back onto the hair volume by a predefined depth. The force has a direction corresponding triangles by using the barycentric coordinates normal to the rod’s initial axes and lies within the plane defined of the points. In the examples we use authentic density values by the normal of the triangle and the corresponding rotated of 200 hairs per cm. After the point distribution we cluster normal obtained from the growth direction distribution texture. points by computing a covering with circles of the 2D domain. The immersion depth is chosen such that the frontal hairs are The center of each cluster is taken as base position for the close to the hair volume surface and increases according to the guides. Since the circles are allowed to overlap we randomly geodetic height of the base points. Thus, lower guides generate associate affected points to one of the guides to which the the lower hair layers of the style. The maximum possible depth region belongs. This prevents sharp-edged base areas of the are obtained by superposition of the distance fields for the final clusters. Simple shape distortion minimizing schemes like scalp surface and the hair volume surface, respectively.
Principal Guide Generation: The objective function to 3.5 Using Local Density Information be minimized is a weighted sum of n terms, each of which To account for hair-hair interactions and to obtain a more controls a certain aspect of the underlying problem. This homogeneous fiber distribution throughout the acceptable hair function is given by region we also incorporate local density information. For this purpose, we iteratively generate a density field that describes X min f (η) = wi · Fi , (6) the approximate local hair density at each point of the accept- where Fi : R3 7→ R are scalar valued functions and wi ∈ R able hair region. The density field is encoded on a rectilinear are the respective weights, with P wi = 1. grid. If the local density in the region that a guide and its The first term F1 accounts for the directional correspon- corresponding strand will presumably occupy is larger than dence of the current guide to its adjacent pre-guides and is a predefined threshold, then we add a high surcharge to the given as Z 1 0 energy value. If a principal guide takes its final configuration, rG r0C F1 = 1− , ds. (7) then the densities within a cylindrical region around the guide 0 |r0G | |r0C | are added to the voxels occupied by it. This cylindrical region This correspondence is measured in terms of the cosine of will later be filled with hair by a simple strand generator. the angle between the local tangents of the guide and the Here, we discuss two different density models: current fiber at the positions rG (s) and rC (s), respectively. • Binary occupancy model (BOM): In this model the The function, thus obeys (1 − cos ϕ). That is, if the local voxels occupied by a full strand are assigned the value 1. directions are parallel, then the function evaluates to zero, if The corresponding grid must have a high resolution such they are orthogonal to one and the function takes its highest that the region filled by a single segment remains small. value if they are antiparallel. This function is evaluated for a We incorporate this model into the objective function by variable number of pre-guides in the vicinity of the current adding a fourth term: guide. We found that three pre-guides are sufficient. The contribution of each pre-guide is weighted according to its X F4BOM = cBOM · δ(si ). (10) distance from the guide on the scalp. This allows for more smooth transitions. Please note, that r0 (s) = d3 (s). The function δ evaluates to 1 if segment si intersects an The second term F2 accounts for the similarity of the occupied voxel, 0 otherwise. That is, for each segment current guide to the pre-guides. It is defined as of a guide that penetrates an occupied cell we add a Z 1 21 value of cBOM . To determine the occupancy we employ 2 (8) a simple voxelization algorithm that finds intersections F2 = ∆u ds . 0 of grid cells with a strand by means of the separating The local curvature and torsion is the used measure for the axis test, cf. [6]. For this, we embed each segment of the similarity of two curves. These quantities are given by the twist generalized cylinder (frustum) into an oriented bounding vector u, cf. Sec. 3.1. The vector ∆u = uG − uC describes box (OBB). The separating axis test is performed for the twist difference between the guide and the current curve. each voxel within the axis aligned bounding box of the Note that since the curves need not be of the same length we frustum and its corresponding OBB. use the normalized curves, thus s ∈ [0, 1]. • Continuous Density model (CDM): For the second The third term F3 deals with the problem of boundary model we compute a scalar density field Φρ : R3 7→ R penetration of individual fibers and is given as on a rectilinear grid. For each fiber we calculate the fiber- |d|, if d < 0 voxel intersections using a voxel traversal algorithm. The F3 = . (9) local density is increased by the ratio of the segment cd + |d|, if d > 0 length inside a cell and the cell diagonal. The idea is As has been mentioned before the boundary is formed by the to force the fibers into the direction of equal density. scalp and the hair surface, respectively. We calculate the dis- For this, the density gradient ∇Φρ is computed along tance of each point to the boundaries using the corresponding the guide curve. The corresponding term added to the distance fields, cf. Sect. 3.2. As can be seen in the equation we objective function writes punish harder if a fiber is outside the boundaries by adding a constant value of cd . The function is applied for both surfaces, Z L r0 2 the scalp and the hair volume. F4CDM = cρ · ∇Φρ , 0 ds. (11) 0 |r | The contributions of the above terms can conveniently be controlled by the weighting parameters wi , e.g., the higher the That is, if the direction of the local tangent is parallel contribution of the similarity controlling term is the better the to the gradient we add a surcharge of cρ · |∇Φρ |2 to the match of the principal guides to the shape of the corresponding energy value. If the tangent is perpendicular the surcharge pre-guides is. is 0 because the fiber’s local direction is in optimal For each guide we start the optimization process from a alignment with the direction of equal density. straight configuration (û = 0) pointing in the direction of the The gradient of the density field can conveniently be corresponding growth normal, cf. Sect. 3.3. approximated by a central finite difference scheme.
In order to evaluate the degree of homogeneity before and after the incorporation of the density function we computed a density histogram which can be seen in the results section. 3.6 Final Cutting and Strand Interpolation To generate the full hairstyle from the set of principal guides we employ a simple strand generator. Grouping hairs can be justified by the observation that real hairs tend to form Fig. 2. The reference hair volume surfaces used to demonstrate the capa- bilities of our approach. Left pair: spheroidal volume and the reconstructed clusters. In a pre-processing step we cut hairs that penetrate hairstyle. Right pair: straight volume and the reconstructed hairstyle. the boundaries. This occurs predominantly in the occipital region where the distance from the pore to the boundary is very short. We use our distance field approach to search for the first segment that penetrates the hair volume. If the length of the fiber outside the volume exceeds a predefined threshold before the fiber immerses into the volume again it is cut at the first boundary penetrating segment. Given the shape of a principal guide we generate a bunch of fibers within a cylindrical region around it. This region is formed by a generalized cylinder with varying radius along the curve. Our scheme is very similar to that of [4] but allows the fibers of a strand to wind around the corresponding guide. 4 Results For demonstrating the efficiency of our algorithm we gen- erated two hairstyles from two different hair volume surfaces using varying parameter sets. Specifically, we used the follow- ing two test cases: Fig. 3. Overlay of the visual hull of the hair surface and the corresponding hairstyles from different perspectives. Please note the structure preserving a) a spheroidal volume obtained from a sculpture scan, and capabilities of our algorithm. Empty volume is caused by insufficient hair b) a straight hair volume taken from Poser, lengths. cf. Fig. 2. Both generated styles cover one half of a human head model. The results from different perspectives as well as the corresponding visual hull are depicted in Fig. 3. For hair rendering we used the model proposed by Zinke et al. [18]. The respective number of fibers was 90 000 for the first model and 60 000 for the second model. The number of guides used to sample the main flow directions was 3000. The times for hairstyle generation was approximately 1.5 minutes on a Pentium IV (2.2 GHz). As can bee seen in Fig. 3 the results show that our algorithm is capable of preserving all the structural details dictated by the hair volume surface. Empty Fig. 4. Same hairstyle with varying contribution of the CDM. Increasing the regions inside the hair volume are caused by insufficient hair contribution of the density controlling term results in a stringier look. lengths, a problem that will be addressed in our future work. The impact of the two density models CDM and BOM (cf. Sect. 3.5) on the final result with varying values for the weighting parameters are shown in Fig. 4. As can be seen on those examples the hairstyles become stringier with increasing fraction. Furthermore, the distribution of the occupied voxels is more homogeneous with the CDM or BOM than without the density models, cf. Fig. 5 and Fig. 6. 5 Conclusion and Future Work We have presented a new approach for automated hairstyle generation from raw surface data obtained from sculpture Fig. 5. Histogram of the density distribution. Left: Number of segments scans. This model can be used to generate initial values for (1-50) per cell (abscissa) and the number of cells (ordinate) obtained with the a subsequent physics based hair simulation. However, there CDM. Right: The same, but without any density model. are still open questions, e.g., how the hair lengths and main
Fig. 6. The picture shows the hair density distribution inside the hair volume (center sagittal plane) obtained with the continuous density model (CDM). Note that the hair density is a) homogeneous and b) zero inside the head. flow directions can directly be estimated from the hair volume surface in order to further reduce the parameters that must be handled by the user. Addressing these open questions will be the content of future work. 6 Acknowledgements We are grateful to A. Zinke for many helpful discussions and his assistance in rendering the results. The presented work is partially supported by Deutsche Forschungsgemeinschaft under grant We 1945/3-2. Fig. 7. Hairstyle examples generated with our approach shown from different References perspectives. 1) and 2): Hairstyle obtained with the spheroidal hair volume surface. 3): This model was obtained with an increased weighting parameter [1] Stuart S. Antman. Nonlinear Problems of Elasticity, volume 107 of for the similarity term and a greater hair length. This results in a very smooth Appl. Math. Sci. Springer-Verlag, Berlin and New York, 1995. look. 4) and 5): Hairstyle obtained with the straight hair volume surface. 6): [2] Volker Blanz and Thomas Vetter. A morphable model for the synthesis This model results from increased hair lengths. of 3D faces. In Siggraph 1999, Computer Graphics Proceedings, pages 187–194, 1999. [3] David E. Breen, Sean Mauch, Ross T. Whitaker, and Jia Mao. 3D Meta- morphosis between different types of geometric models. Eurographics [11] Shu Liu and Andreas Weber. A symbolic-numeric method for solving 2001 Proceedings, 20(3):36–48, 2001. boundary value problems of Kirchhoff rods. In Victor G. Ganzha, [4] Byoungwon Choe and Hyeong-Seok Ko. A statistical wisp model and Ernst W. Mayr, and Evgenii V. Vorozhtsov, editors, Computer Algebra pseudophysical approaches for interactive hairstyle generation. IEEE in Scientific Computing (CASC ’05), volume 3718 of Lecture Notes in Transactions on Visualization and Computer Graphics, 11(2):160–170, Computer Science, pages 387–398, Kalamata, Greece, September 2005. 2005. Springer-Verlag. [5] Michael S. Floater. Parametrization and smooth approximation of [12] Dinesh K. Pai. STRANDS: Interactive simulation of thin solids using surface triangulations. Computer Aided Geometric Design, 14(4):231– Cosserat models. In Computer Graphics Forum, volume 21(3), pages 250, 1997. 347–352, 2002. [6] S. Gottschalk, M. C. Lin, and D. Manocha. OBBTree: A hierarchical [13] Sylvain Paris, Hector Briceño, and François Sillion. Capture of hair structure for rapid interference detection. In Proceedings of the 23rd geometry from multiple images. ACM Transactions on Graphics annual conference on Computer graphics and interactive techniques, (Proceedings of the SIGGRAPH conference), 2004. pages 171–180, 1996. [14] Gerrit Sobottka and Andreas Weber. Computing static electricity on [7] Sunil Hadap and Nadia Magnenat-Thalmann. Interactive hair styler human hair. In Proceedings of Theory and Practice of Computer based on fluid flow. In Computer Animation and Simulation, pages Graphics 2006, 2006. 87–100, August 2000. [15] Yichen Wei, Eyal Ofek, Long Quan, and Heung-Yeung Shum. Modeling [8] Ali Haider and Toyohisa Kaneko. Hair shape modeling from video hair from multiple views. In ACM Transactions on Graphics (TOG), captured images and CT data. In The Proceedings of ICAT2000, pages 2004, volume 24(3), pages 816–820, 2005. 52–57, 2000. [16] Zhan Xu and Xue Dong Yang. V-HairStudio: An interactive tool for [9] Tae-Yong Kim and Ulrich Neumann. Interactive multiresolution hair hair design. IEEE Computer Graphics and Application, 21(3):36–43, modeling and editing. In ACM Transactions on Graphics (TOG), volume May/June 2001. 21(3), pages 620–629, July 2002. [17] Yizhou Yu. Modeling realistic virtual hairstyles. In Proceedings of [10] Chai-Ying Lee, Wei-Ru Chen, Eugenia Leu, and Ming Ouhyoung. A Pacific Graphics, pages 295–301, 2001. rotor platform assisted system for 3d hairstyles. In (WSCG’2002) - [18] Arno Zinke, Gerrit Sobottka, and Andreas Weber. Photo-realistic the 10-th International Conference in Central Europe on Computer rendering of blond hair. In Vision, Modeling, and Visualization (VMV) Graphics, Visualization and Computer Vision’2002, 2002. To appear. 2004, volume 24(3), pages 191–198, 2004.
You can also read