diff options
| author | Jacopo Mondi <jacopo.mondi@ideasonboard.com> | 2023-09-21 18:55:38 +0200 |
|---|---|---|
| committer | Laurent Pinchart <laurent.pinchart@ideasonboard.com> | 2023-09-27 14:35:33 +0300 |
| commit | 9780f46f64070cc40405ab678797334e251458a4 (patch) | |
| tree | 83a41a2e18fddd1ee564ca7bb7cbba906194c9c5 /Documentation | |
| parent | e991a2887ebf065d9d62e5dd11d6128eb58f628e (diff) | |
Documentation: Introduce Camera Sensor Model
Introduce a documentation page about the 'camera sensor model'
implemented by libcamera.
The camera sensor model serves to provide to applications a reference
description of the processing steps that take place in a camera sensor
in order to precisely control the sensor configuration through the
forthcoming SensorConfiguration class.
Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Reviewed-by: Naushir Patuck <naush@raspberrypi.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Diffstat (limited to 'Documentation')
| -rw-r--r-- | Documentation/binning.svg | 5053 | ||||
| -rw-r--r-- | Documentation/camera-sensor-model.rst | 174 | ||||
| -rw-r--r-- | Documentation/index.rst | 1 | ||||
| -rw-r--r-- | Documentation/meson.build | 1 | ||||
| -rw-r--r-- | Documentation/sensor_model.svg | 4870 | ||||
| -rw-r--r-- | Documentation/skipping.svg | 1720 |
6 files changed, 11819 insertions, 0 deletions
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100644 index 00000000..58bf70e1 --- /dev/null +++ b/Documentation/camera-sensor-model.rst @@ -0,0 +1,174 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +.. _camera-sensor-model: + +.. todo: Move to Doxygen-generated documentation + +The libcamera camera sensor model +================================= + +libcamera defines an abstract camera sensor model in order to provide +a description of each of the processing steps that result in image data being +sent on the media bus and that form the image stream delivered to applications. + +Applications should use the abstract camera sensor model defined here to +precisely control the operations of the camera sensor. + +The libcamera camera sensor model targets image sensors producing frames in +RAW format, delivered through a MIPI CSI-2 compliant bus implementation. + +The abstract sensor model maps libcamera components to the characteristics and +operations of an image sensor, and serves as a reference to model the libcamera +CameraSensor class and SensorConfiguration classes and operations. + +In order to control the configuration of the camera sensor through the +SensorConfiguration class, applications should understand this model and map it +to the combination of image sensor and kernel driver in use. + +The camera sensor model defined here is based on the *MIPI CCS specification*, +particularly on *Section 8.2 - Image readout* of *Chapter 8 - Video Timings*. + + +Glossary +-------- + +.. glossary:: + + Pixel array + The full grid of pixels, active and inactive ones + + Pixel array active area + The portion(s) of the pixel array that contains valid and readable pixels; + corresponds to the libcamera properties::PixelArrayActiveAreas + + Analog crop rectangle + The portion of the *pixel array active area* which is read out and passed + to further processing stages + + Subsampling + Pixel processing techniques that reduce the image size by binning or by + skipping adjacent pixels + + Digital crop + Crop of the sub-sampled image data before scaling + + Frame output + The frame (image) as output on the media bus by the camera sensor + +Camera sensor model +------------------- + +The abstract sensor model is described in the following diagram. + +.. figure:: sensor_model.svg + + +1. The sensor reads pixels from the *pixel array*. The pixels being read out are + selected by the *analog crop rectangle*. + +2. The pixels can be subsampled to reduce the image size without affecting the + field of view. Two subsampling techniques can be used: + + - Binning: combines adjacent pixels of the same colour by averaging or + summing their values, in the analog domain and/or the digital domain. + + .. figure:: binning.svg + + + - Skipping: skips the read out of a number of adjacent pixels. + + .. figure:: skipping.svg + + +3. The output of the optional sub-sampling stage is then cropped after the + conversion of the analogue pixel values in the digital domain. + +4. The resulting output frame is sent on the media bus by the sensor. + +Camera Sensor configuration parameters +-------------------------------------- + +The libcamera camera sensor model defines parameters that allow users to +control: + +1. The image format bit depth + +2. The size and position of the *Analog crop rectangle* + +3. The subsampling factors used to downscale the pixel array readout data to a + smaller frame size without reducing the image *field of view*. Two + configuration parameters are made available to control the downscaling + factor: + + - binning + A vertical and horizontal binning factor can be specified, the image + will be downscaled in its vertical and horizontal sizes by the specified + factor. + + .. code-block:: + :caption: Definition: The horizontal and vertical binning factors + + horizontal_binning = xBin; + vertical_binning = yBin; + + + - skipping + Skipping reduces the image resolution by skipping the read-out of a number + of adjacent pixels. The skipping factor is specified by the 'increment' + number (number of pixels to 'skip') in the vertical and horizontal + directions and for even and odd rows and columns. + + .. code-block:: + :caption: Definition: The horizontal and vertical skipping factors + + horizontal_skipping = (xOddInc + xEvenInc) / 2 + vertical_skipping = (yOddInc + yEvenInc) / 2 + + Different sensors perform the binning and skipping stages in different + orders. For the sake of computing the final output image size the order of + execution is not relevant. The overall down-scaling factor is obtained by + combining the binning and skipping factors. + + .. code-block:: + :caption: Definition: The total scaling factor (binning + sub-sampling) + + total_horizontal_downscale = horizontal_binning + horizontal_skipping + total_vertical_downscale = vertical_binning + vertical_skipping + + +4. The output size is used to specify any additional cropping on the sub-sampled + frame. + +5. The total line length and frame height (*visibile* pixels + *blankings*) as + sent on the MIPI CSI-2 bus. + +6. The pixel transmission rate on the MIPI CSI-2 bus. + +The above parameters are combined to obtain the following high-level +configurations: + +- **frame output size** + + Obtained by applying a crop to the physical pixel array size in the analog + domain, followed by optional binning and sub-sampling (in any order), + followed by an optional crop step in the output digital domain. + +- **frame rate** + + The combination of the *total frame size*, the image format *bit depth* and + the *pixel rate* of the data sent on the MIPI CSI-2 bus allows to compute the + image stream frame rate. The equation is the well known: + + .. code-block:: + + frame_duration = total_frame_size / pixel_rate + frame_rate = 1 / frame_duration + + + where the *pixel_rate* parameter is the result of the sensor's configuration + of the MIPI CSI-2 bus *(the following formula applies to MIPI CSI-2 when + used on MIPI D-PHY physical protocol layer only)* + + .. code-block:: + + pixel_rate = CSI-2_link_freq * 2 * nr_of_lanes / bits_per_sample diff --git a/Documentation/index.rst b/Documentation/index.rst index 43d8b017..63fac72d 100644 --- a/Documentation/index.rst +++ b/Documentation/index.rst @@ -23,3 +23,4 @@ Sensor driver requirements <sensor_driver_requirements> Lens driver requirements <lens_driver_requirements> Python Bindings <python-bindings> + Camera Sensor Model <camera-sensor-model> diff --git a/Documentation/meson.build b/Documentation/meson.build index b2a5bf15..7c150259 100644 --- a/Documentation/meson.build +++ b/Documentation/meson.build @@ -63,6 +63,7 @@ endif if sphinx.found() 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Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="47.435753" + y="-40.193825" + id="tspan14" /><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="47.435753" + y="-32.272789" + id="tspan9" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="33.799152" + y="-23.751602" + id="text8-5" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="33.799152" + y="-23.751602" + id="tspan13">y_even_inc = 1</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="33.799152" + y="-15.830566" + id="tspan9-8" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="105.17001" + y="-40.766998" + id="text8-5-9" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="105.17001" + y="-40.766998" + id="tspan13-1"> 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="105.17001" + y="-32.845963" + id="tspan9-8-2" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="47.782906" + y="-57.348003" + id="text8-3" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + id="tspan8-4" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="47.782906" + y="-57.348003">x_odd_inc = 3 </tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="47.782906" + y="-49.426968" + id="tspan10" /><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="47.782906" + y="-41.505932" + id="tspan9-0" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="35.099522" + y="-13.290938" + id="text8-3-5" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="35.099522" + y="-13.290938" + id="tspan12">y_odd_inc = 3</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="35.099522" + y="-5.3699036" + id="tspan10-1" /><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="35.099522" + y="2.5511286" + id="tspan9-0-4" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.25663" + y="-25.301243" + id="text8-5-9-2" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.25663" + y="-25.301243" + id="tspan13-1-6">0</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.25663" + y="-17.380207" + id="tspan9-8-2-0" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="94.882782" + y="-12.704006" + id="text8-5-9-2-0" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="94.882782" + y="-12.704006" + id="tspan13-1-6-8">1</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="94.882782" + y="-4.7829742" + id="tspan9-8-2-0-6" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.313683" + y="-1.2592223" + id="text8-5-9-2-6" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.313683" + y="-1.2592223" + id="tspan13-1-6-0">2</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.313683" + y="6.6618114" + id="tspan9-8-2-0-5" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.326363" + y="9.9864616" + id="text8-5-9-2-5" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.326363" + y="9.9864616" + id="tspan13-1-6-04">3</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.326363" + y="17.907495" + id="tspan9-8-2-0-9" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.3517" + y="22.179893" + id="text8-5-9-2-09" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.3517" + y="22.179893" + id="tspan13-1-6-6">4</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.3517" + y="30.100925" + id="tspan9-8-2-0-60" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.307358" + y="33.597816" + id="text8-5-9-2-8" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.307358" + y="33.597816" + id="tspan13-1-6-68">5</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.307358" + y="41.518852" + id="tspan9-8-2-0-53" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.25663" + y="46.90731" + id="text8-5-9-2-7" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.25663" + y="46.90731" + id="tspan13-1-6-80">6</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583px" + x="95.25663" + y="54.828346" + id="tspan9-8-2-0-8" /></text> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;line-height:125%;font-family:Sans;-inkscape-font-specification:'Sans, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="95.23764" + y="58.228878" + id="text8-5-9-2-9" + transform="scale(0.99956973,1.0004305)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.33683px;font-family:Sans;-inkscape-font-specification:'Sans, 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