Jimmy Anderson admitted England did not bowl well enough as Australia scored a first day total of 337-1 in the second Test but claims the home side can still win at Lord's.

It was Australia's day as both Chris Rogers and Steve Smith finished with unbeaten centuries, with David Warner being the only wicket to fall.

And Anderson admitted England's bowling was not good enough on a batsman's delight of a surface. "It's the sort of wicket where you have to bowl accurately and consistently, and we did not do that enough today," said the England pace bowler.

"When you don't do that against world-class opposition then you get punished, as we did."

But he was defiant. "It is just one day, and we know that if we win the next four days we will win the Test match," he added.

"Obviously we have our backs against the wall and have to perform well tomorrow. We've got a new ball, and if we front up, take some wickets and make inroads, who knows? We can fight our way back into the game.

"But we have to bowl more consistently than we did today. We're going to come back with a positive attitude that we can win this game, but we are going to have to play better than we did today. The main thing is to turn up with smiles on our faces and try to make inroads with the new ball."

Michael Clarke had no hesitation in choosing to bat after winning the toss, with the wicket looking set for a big score.

And so it proved, as England toiled with little success for most of the day. The one Australian failure was David Warner, who threw away his wicket on 38 when he looked well established, caught by Anderson off Moeen Ali.

But Rogers and Smith made no such mistakes, batting steadily through the day for their centuries, both completed shortly after tea. Smith was first past the 100 mark, taking 161 balls to reach his tenth Test century. Rogers, the Middlesex batsman playing on his home turf, followed soon afterwards.

It was especially satisfying for Rogers, who was out for 95 in the first innings at Cardiff in the first Test, his seventh successive half-century without making 100. This time his century, his fifth in Test cricket, came off 209 balls.

Australia really piled on the runs in the final session, with the 200 partnership coming up by 5pm and Rogers finished on 158 not out and Smith unbeaten on 129.

"I call Lord's home so it is something special to get a century here," said Rogers. "People have criticised me for saying I will retire, but let's just get through this series and then I will make a decision. It is such a special series to be part of."

After being dropped in the early stages without scoring, Rogers admitted: "It's such a stupid game in many respects. It relies on luck. I could have been out for a duck and instead here I am on 155 – it was just my day."