From 8dcec9387c4aff25e11cf3addd909aefa0a7301a Mon Sep 17 00:00:00 2001 From: "@lukas.elster" Date: Mon, 14 Nov 2022 16:05:26 +0100 Subject: [PATCH 01/10] First version of RaytracerView/Config Signed-off-by: @lukas.elster --- osi_sensorview.proto | 45 ++++++++++ osi_sensorviewconfiguration.proto | 145 ++++++++++++++++++++++++++++++ 2 files changed, 190 insertions(+) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 072f96ccd..d6c421392 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -163,6 +163,10 @@ message SensorView // Ultrasonic-specific SensorView(s). // repeated UltrasonicSensorView ultrasonic_sensor_view = 1004; + + // Raytracer-specific View(s). + // + repeated RaytracerView raytracer_view = 1005; } // @@ -347,3 +351,44 @@ message UltrasonicSensorView // optional UltrasonicSensorViewConfiguration view_configuration = 1; } + +// +// \brief Definition of the raytracer view. +// +// Raytracer specific view data. +// +message RaytracerView +{ + // Raytracer view configuration valid at the time the data was created. + // + optional RaytracerViewConfiguration view_configuration = 1; + + // Raw raytracer data. + // + // The raw raytracer data in the memory layout and order specified by the + // raytracer input configuration. + // + optional bytes raytracer_data = 2; + + // Device type defines the device where the data is located. + // + optional DeviceType device_type = 3; + + // Enum consits of different predefined device types. + // + enum DeviceType + { + // Type of device type is unknown (must not be used). + // + DEVICE_TYPE_UNKNOWN = 0; + + // The data is located on the GPU. + // + DEVICE_TYPE_GPU = 1; + + // The data is located on the CPU. + // + DEVICE_TYPE_CPU = 2; + + } +} diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 48bfd8f8c..b624a1a87 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -236,6 +236,11 @@ message SensorViewConfiguration // repeated UltrasonicSensorViewConfiguration ultrasonic_sensor_view_configuration = 1004; + + // Raytracer-specific View Configuration(s). + // + repeated RaytracerViewConfiguration + raytracer_view_configuration = 1005; } // @@ -973,3 +978,143 @@ message UltrasonicSensorViewConfiguration // TBD: Ultrasonic Sensor specific configuration. // } + + +// +// \brief The configuration settings for the Raytracer View to be +// provided by the environment simulation. +// +message RaytracerViewConfiguration +{ + // The ID of the sensor origin at host vehicle's mounting_position. + // + // This is the ID of the simulated sensor, to be used in its detected + // features output. + // + // The ID is to be provided by the environment simulation, the sensor + // model is not in a position to provide a useful default value. + // + optional Identifier sensor_id = 1; + + // The physical mounting position of the sensor (origin and orientation + // of the sensor coordinate system) given in vehicle coordinates [1]. + // The physical position pertains to this detector individually, and + // governs the sensor-relative coordinates in features detected by this + // detector. + // + // \arg \b x-direction of sensor coordinate system: sensor viewing direction + // \arg \b z-direction of sensor coordinate system: sensor (up) + // \arg \b y-direction of sensor coordinate system: perpendicular to x and z + // right hand system + // + // \par Reference: + // [1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany. + // + // \note The origin of vehicle's coordinate system in world frame is + // ( \c MovingObject::base . \c BaseMoving::position + + // Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c + // BaseMoving::orientation) * \c + // MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of + // the vehicle's coordinate system is equal to the orientation of the + // vehicle's bounding box \c MovingObject::base . \c + // BaseMoving::orientation. \note A default position can be provided by the + // sensor model (e.g. to indicate the position the model was validated for), + // but this is optional; the environment simulation must provide a valid + // mounting position (based on the vehicle configuration) when setting the + // view configuration. + // + // All raytracing results e.g. Hitpoint positions are given in this + // sensor coordinate system. + // + optional MountingPosition mounting_position = 2; + + // Position of the raytracer`s receiver in the sensor coordinate system. + // + repeated MountingPosition receiver_position = 3; + + // Position of the raytracer`s transmitter in the sensor coordinate system. + // + repeated MountingPosition transmitter_position = 4; + + // The wavelength of the transmitted ray in the simulation. + // + // Unit: nm + optional double emitter_wavelength = 5; + + // When reaching the maximmum signal loss during raytracing further raytracing is aborted. + // The maximum signal loss is the relation between current calculated signal strength and the emitted signal + // strength at the ray generation. + // + // Unit: dB + optional double maximum_signal_loss = 6; + + // The maximum path length desribes the ray's maximum overall distance. + // If the maximum path length is reached during simulation no further interaction is calculated. + // + // Unit: m + optional double max_path_length = 7; + + // The maximum number of interaction desribes the ray's maximum hits with surfaces. + // If the maximum number of interaction is reached during simulation no further interaction is calculated. + // + // Unit: - + optional uint32 max_number_of_interactions = 8; + + // Format of raytracer data (includes number, kind and format of channels). + // + // In the message provided by the sensor model, this field can + // be repeated and all values are acceptable to the model, with + // the most acceptable value being listed first, and the remaining + // values indicating alternatives in descending order of preference. + // + // In the message provided to the sensor model, this field must + // contain exactly one value, indicating the format of the image + // data being provided by the simulation environment - which must + // be one of the values the sensor model requested - or there + // must be no value, indicating that the simulation environment + // cannot provide raytracer data in one of the requested formats. + // + repeated RaytracerFormat raytracer_format = 9; + + // Different predefined raytracer formats + // + enum RaytracerFormat + { + // Type of channel format is unknown (must not be used). + // + RAYTRACER_FORMAT_UNKNOWN = 0; + + // Unspecified but known channel format. + // Consider proposing an additional format if using + // \c #RAYTRACER_FORMAT_OTHER. + // + RAYTRACER_FORMAT_OTHER = 1; + + // Radar raytracer format used in the Japanese DIVP project. + // + // The message consists of the following fields in the described order. + // In brackets the data type, the unit and a short description is given. + // distance (float; in m; path length of the ray) + // relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces) + // propagation_attenuation_h_pol (float; in W; attenuation of signal strength of horizontal polarisation) + // propagation_attenuation_v_pol (float; in W; attenuation of signal strength of vertical polarisation) + // direction_of_arrival_azimuth (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in azimuth direction) + // direction_of_arrival_elevation (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in elevation direction) + // direction_of_departure_azimuth (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in azimuth direction) + // direction_of_departure_elevation (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in elevation direction) + // + RAYTRACER_FORMAT_DIVP_RADAR = 2; + + // Radar raytracer format used in the German VIVALDI project. + // + // The message consists of the following fields in the described order. + // In brackets the data type, the unit and a short description is given. + // intersection_path_length (float; in m; path length of the ray between the First_Hitpoint and the Last_Hitpoint) + // relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces) + // jones_vector (float4; in V/m; jones vector of the ray with information of the electromagnetic wave`s phase, signal strength and polarisation) + // last_hitpoint (float3; in m; coordinates of the last hitpoint in the raytracer's coordinate system defined by the mounting position) + // first_hitpoint (float3; in m; coordinates of the first hitpoint in the raytracer's coordinate system defined by the mounting position) + // + RAYTRACER_FORMAT_VIVALDI_RADAR = 3; + } +} From d445c13f897a25f6839a361da94b89343d5bcf99 Mon Sep 17 00:00:00 2001 From: SandroReith <40294694+SandroReith@users.noreply.github.com> Date: Wed, 11 Jun 2025 10:03:11 +0200 Subject: [PATCH 02/10] Update osi_sensorviewconfiguration.proto Reformatted to utilize the ray tracing approach. Offers a generic description, independent of tool provider or sensor technology Signed-off-by: SandroReith <40294694+SandroReith@users.noreply.github.com> --- osi_sensorviewconfiguration.proto | 28 +++++++--------------------- 1 file changed, 7 insertions(+), 21 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index b624a1a87..f375c4151 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1088,33 +1088,19 @@ message RaytracerViewConfiguration // Consider proposing an additional format if using // \c #RAYTRACER_FORMAT_OTHER. // - RAYTRACER_FORMAT_OTHER = 1; + RAYTRACER_FORMAT_OTHER = 1; - // Radar raytracer format used in the Japanese DIVP project. - // - // The message consists of the following fields in the described order. - // In brackets the data type, the unit and a short description is given. - // distance (float; in m; path length of the ray) - // relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces) - // propagation_attenuation_h_pol (float; in W; attenuation of signal strength of horizontal polarisation) - // propagation_attenuation_v_pol (float; in W; attenuation of signal strength of vertical polarisation) - // direction_of_arrival_azimuth (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in azimuth direction) - // direction_of_arrival_elevation (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in elevation direction) - // direction_of_departure_azimuth (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in azimuth direction) - // direction_of_departure_elevation (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in elevation direction) - // - RAYTRACER_FORMAT_DIVP_RADAR = 2; - - // Radar raytracer format used in the German VIVALDI project. + // Raytracer format for Shoot and Bounce Approach + // Adapted for electromagnetic wave propagation // // The message consists of the following fields in the described order. // In brackets the data type, the unit and a short description is given. // intersection_path_length (float; in m; path length of the ray between the First_Hitpoint and the Last_Hitpoint) // relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces) - // jones_vector (float4; in V/m; jones vector of the ray with information of the electromagnetic wave`s phase, signal strength and polarisation) - // last_hitpoint (float3; in m; coordinates of the last hitpoint in the raytracer's coordinate system defined by the mounting position) - // first_hitpoint (float3; in m; coordinates of the first hitpoint in the raytracer's coordinate system defined by the mounting position) + // jones_matrices (float8; in V/m; jones matrix of the ray with information of the electromagnetic wave`s phase, signal strength and polarisation, which gives you additonaly the projection to the subset of the jones vectors ) + // direction_of_arrival_hitpoint (float3; in m; coordinates of the DoA (last hitpoint) in the raytracer's coordinate system defined by the mounting position) + // direction_of_departure_hitpoint (float3; in m; coordinates of the DoD (first hitpoint) in the raytracer's coordinate system defined by the mounting position) // - RAYTRACER_FORMAT_VIVALDI_RADAR = 3; + RAYTRACER_FORMAT_SBR = 3; } } From 7209fe3b08445593a60bdd156e13b320a0a10697 Mon Sep 17 00:00:00 2001 From: SandroReith <40294694+SandroReith@users.noreply.github.com> Date: Wed, 11 Jun 2025 10:04:22 +0200 Subject: [PATCH 03/10] Update osi_sensorviewconfiguration.proto updated enum for RAYTRACER_FORMAT_SBR 3 -> 2 Signed-off-by: SandroReith <40294694+SandroReith@users.noreply.github.com> --- osi_sensorviewconfiguration.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index f375c4151..74b5b1949 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1101,6 +1101,6 @@ message RaytracerViewConfiguration // direction_of_arrival_hitpoint (float3; in m; coordinates of the DoA (last hitpoint) in the raytracer's coordinate system defined by the mounting position) // direction_of_departure_hitpoint (float3; in m; coordinates of the DoD (first hitpoint) in the raytracer's coordinate system defined by the mounting position) // - RAYTRACER_FORMAT_SBR = 3; + RAYTRACER_FORMAT_SBR = 2; } } From c170ba9517deaf05c33cdfab4e4183dd5c8ed223 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Tue, 23 Sep 2025 17:01:10 +0200 Subject: [PATCH 04/10] Update binary layout information Signed-off-by: Thomas Sedlmayer --- osi_sensorviewconfiguration.proto | 68 +++++++++++++++++++++++++++---- 1 file changed, 59 insertions(+), 9 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 74b5b1949..03ae1c863 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1090,16 +1090,66 @@ message RaytracerViewConfiguration // RAYTRACER_FORMAT_OTHER = 1; - // Raytracer format for Shoot and Bounce Approach - // Adapted for electromagnetic wave propagation + // Raytracer format for Shoot and Bounce Approach (adapted for + // electromagnetic wave propagation) // - // The message consists of the following fields in the described order. - // In brackets the data type, the unit and a short description is given. - // intersection_path_length (float; in m; path length of the ray between the First_Hitpoint and the Last_Hitpoint) - // relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces) - // jones_matrices (float8; in V/m; jones matrix of the ray with information of the electromagnetic wave`s phase, signal strength and polarisation, which gives you additonaly the projection to the subset of the jones vectors ) - // direction_of_arrival_hitpoint (float3; in m; coordinates of the DoA (last hitpoint) in the raytracer's coordinate system defined by the mounting position) - // direction_of_departure_hitpoint (float3; in m; coordinates of the DoD (first hitpoint) in the raytracer's coordinate system defined by the mounting position) + // The 64-byte message consists of the fields in the described order, + // with all values as 32-bit IEEE-754 floats (float32) stored in + // little-endian (least-significant byte first). + // + // * \c intersection_path_length - float32 (meters) + // + // Path length of the ray between First_Hitpoint and Last_Hitpoint. + // + // Offset: 0 (4 bytes) + // + // * \c relative_speed - float32 (meters/second) + // + // Summed relative speed due to interaction points with moving + // surfaces. + // + // Offset: 4 (4 bytes) + // + // * \c jones_matrices - float32[8] (V/m complex components) + // + // Contains the 2x2 Jones matrix (complex entries) of the ray with + // information of the electromagnetic wave's phase, signal strength + // and polarisation, which gives you additonaly the projection to the + // subset of the jones vectors. + // + // Layout (in this order): + // vv[re], vv[im], vh[re], vh[im], hv[re], hv[im], hh[re], hh[im] + // + // \f[ + // J = \begin{bmatrix} + // vv & vh \\ + // hv & hh + // \end{bmatrix} + // \f] + // + // Offset: 8 (32 bytes) + // + // * \c direction_of_arrival_hitpoint - float32[3] (meters): + // + // Coordinates of the DoA (last hitpoint) in the raytracer's + // coordinate system defined by the mounting position. + // + // Order: x, y, z + // + // Coordinate system: right-handed ([see OSI coordinate system definition](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/usecases/transforming_coordinate_systems.html)) + // + // Offset: 40 (12 bytes) + // + // * \c direction_of_departure_hitpoint - float32[3] (meters): + // + // Coordinates of the DoD (first hitpoint) in the raytracer's + // coordinate system defined by the mounting position. + // + // Order: x, y, z + // + // Coordinate system: right-handed ([see OSI coordinate system definition](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/usecases/transforming_coordinate_systems.html)) + // + // Offset: 52 (12 bytes) // RAYTRACER_FORMAT_SBR = 2; } From 334a1bb9a8849595185b4f1d87c8a6e18f81277e Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 25 Sep 2025 09:37:34 +0200 Subject: [PATCH 05/10] Fix minor formatting and spelling issues Signed-off-by: Thomas Sedlmayer --- osi_sensorviewconfiguration.proto | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 03ae1c863..30435c914 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1039,25 +1039,30 @@ message RaytracerViewConfiguration // The wavelength of the transmitted ray in the simulation. // // Unit: nm + // optional double emitter_wavelength = 5; - // When reaching the maximmum signal loss during raytracing further raytracing is aborted. - // The maximum signal loss is the relation between current calculated signal strength and the emitted signal - // strength at the ray generation. + // When reaching the maximmum signal loss during raytracing further + // raytracing is aborted. The maximum signal loss is the relation between + // current calculated signal strength and the emitted signal strength at the + // ray generation. // // Unit: dB + // optional double maximum_signal_loss = 6; - // The maximum path length desribes the ray's maximum overall distance. - // If the maximum path length is reached during simulation no further interaction is calculated. + // The maximum path length desribes the ray's maximum overall distance. If + // the maximum path length is reached during simulation no further + // interaction is calculated. // // Unit: m + // optional double max_path_length = 7; - // The maximum number of interaction desribes the ray's maximum hits with surfaces. - // If the maximum number of interaction is reached during simulation no further interaction is calculated. + // The maximum number of interaction desribes the ray's maximum hits with + // surfaces. If the maximum number of interaction is reached during + // simulation no further interaction is calculated. // - // Unit: - optional uint32 max_number_of_interactions = 8; // Format of raytracer data (includes number, kind and format of channels). @@ -1114,8 +1119,8 @@ message RaytracerViewConfiguration // // Contains the 2x2 Jones matrix (complex entries) of the ray with // information of the electromagnetic wave's phase, signal strength - // and polarisation, which gives you additonaly the projection to the - // subset of the jones vectors. + // and polarisation, which additionally provides the projection to the + // subset of the Jones vectors. // // Layout (in this order): // vv[re], vv[im], vh[re], vh[im], hv[re], hv[im], hh[re], hh[im] From d88aaaa58ea785a85100a0bb6730bc91e8b05a25 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 25 Sep 2025 09:43:18 +0200 Subject: [PATCH 06/10] Add reference to SBR approach Signed-off-by: Thomas Sedlmayer --- osi_sensorviewconfiguration.proto | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 30435c914..9cd64107d 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1096,7 +1096,7 @@ message RaytracerViewConfiguration RAYTRACER_FORMAT_OTHER = 1; // Raytracer format for Shoot and Bounce Approach (adapted for - // electromagnetic wave propagation) + // electromagnetic wave propagation) [1] // // The 64-byte message consists of the fields in the described order, // with all values as 32-bit IEEE-754 floats (float32) stored in @@ -1156,6 +1156,9 @@ message RaytracerViewConfiguration // // Offset: 52 (12 bytes) // + // /par Reference + // [1] Brem, R., & Eibert, T. F. (2015, August). A Shooting and Bouncing Ray (SBR) Modeling Framework Involving Dielectrics and Perfect Conductors. IEEE Transactions on Antennas and Propagation, 63(8), 3599-3609. https://doi.org/10.1109/TAP.2015.2438318 + // RAYTRACER_FORMAT_SBR = 2; } } From 4f869863709cb5cbf74403e4904e6e0bce09a92f Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Wed, 29 Oct 2025 16:35:11 +0100 Subject: [PATCH 07/10] Remove RaytracerView Signed-off-by: Thomas Sedlmayer --- osi_sensorview.proto | 45 -------------------------------------------- 1 file changed, 45 deletions(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index d6c421392..072f96ccd 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -163,10 +163,6 @@ message SensorView // Ultrasonic-specific SensorView(s). // repeated UltrasonicSensorView ultrasonic_sensor_view = 1004; - - // Raytracer-specific View(s). - // - repeated RaytracerView raytracer_view = 1005; } // @@ -351,44 +347,3 @@ message UltrasonicSensorView // optional UltrasonicSensorViewConfiguration view_configuration = 1; } - -// -// \brief Definition of the raytracer view. -// -// Raytracer specific view data. -// -message RaytracerView -{ - // Raytracer view configuration valid at the time the data was created. - // - optional RaytracerViewConfiguration view_configuration = 1; - - // Raw raytracer data. - // - // The raw raytracer data in the memory layout and order specified by the - // raytracer input configuration. - // - optional bytes raytracer_data = 2; - - // Device type defines the device where the data is located. - // - optional DeviceType device_type = 3; - - // Enum consits of different predefined device types. - // - enum DeviceType - { - // Type of device type is unknown (must not be used). - // - DEVICE_TYPE_UNKNOWN = 0; - - // The data is located on the GPU. - // - DEVICE_TYPE_GPU = 1; - - // The data is located on the CPU. - // - DEVICE_TYPE_CPU = 2; - - } -} From 501a1e6bb86f98d79ea364a7286925cb557ccf12 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Wed, 29 Oct 2025 16:47:43 +0100 Subject: [PATCH 08/10] Add details on ray tracing use case Signed-off-by: Thomas Sedlmayer --- osi_sensorviewconfiguration.proto | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 9cd64107d..b3613872a 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1067,6 +1067,15 @@ message RaytracerViewConfiguration // Format of raytracer data (includes number, kind and format of channels). // + // The \c RayTracerFormat is used to facilitate information exchange between + // different modules within a shared context. The ray tracing provider + // communicates the location of the data on the GPU to the consumer. + // Additionally, the \c RayTracerFormat defines how this data should be + // interpreted, enabling the consumer to correctly process it during + // GPU-based post-processing. This configuration ensures that the consumer + // understands the structure and semantics of the data, allowing for + // efficient and accurate interpretation in the post-processing. + // // In the message provided by the sensor model, this field can // be repeated and all values are acceptable to the model, with // the most acceptable value being listed first, and the remaining From d62699a28b67bf92689bb5c9fa5366935e2833d7 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Wed, 29 Oct 2025 17:01:04 +0100 Subject: [PATCH 09/10] Change ray tracer spelling and minor fixes Signed-off-by: Thomas Sedlmayer --- osi_sensorviewconfiguration.proto | 49 +++++++++++++++---------------- 1 file changed, 24 insertions(+), 25 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index b3613872a..ad1c01ea5 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -237,10 +237,9 @@ message SensorViewConfiguration repeated UltrasonicSensorViewConfiguration ultrasonic_sensor_view_configuration = 1004; - // Raytracer-specific View Configuration(s). + // Ray tracer-specific View Configuration(s). // - repeated RaytracerViewConfiguration - raytracer_view_configuration = 1005; + repeated RayTracerViewConfiguration ray_tracer_view_configuration = 1005; } // @@ -981,10 +980,10 @@ message UltrasonicSensorViewConfiguration // -// \brief The configuration settings for the Raytracer View to be +// \brief The configuration settings for the \c RayTracerView to be // provided by the environment simulation. // -message RaytracerViewConfiguration +message RayTracerViewConfiguration { // The ID of the sensor origin at host vehicle's mounting_position. // @@ -1023,16 +1022,16 @@ message RaytracerViewConfiguration // mounting position (based on the vehicle configuration) when setting the // view configuration. // - // All raytracing results e.g. Hitpoint positions are given in this + // All ray tracing results e.g. Hitpoint positions are given in this // sensor coordinate system. // optional MountingPosition mounting_position = 2; - // Position of the raytracer`s receiver in the sensor coordinate system. + // Position of the ray tracer's receiver in the sensor coordinate system. // repeated MountingPosition receiver_position = 3; - // Position of the raytracer`s transmitter in the sensor coordinate system. + // Position of the ray tracer's transmitter in the sensor coordinate system. // repeated MountingPosition transmitter_position = 4; @@ -1042,8 +1041,8 @@ message RaytracerViewConfiguration // optional double emitter_wavelength = 5; - // When reaching the maximmum signal loss during raytracing further - // raytracing is aborted. The maximum signal loss is the relation between + // When reaching the maximum signal loss during ray tracing further + // ray tracing is aborted. The maximum signal loss is the relation between // current calculated signal strength and the emitted signal strength at the // ray generation. // @@ -1065,7 +1064,7 @@ message RaytracerViewConfiguration // optional uint32 max_number_of_interactions = 8; - // Format of raytracer data (includes number, kind and format of channels). + // Format of ray tracer data (includes number, kind and format of channels). // // The \c RayTracerFormat is used to facilitate information exchange between // different modules within a shared context. The ray tracing provider @@ -1086,25 +1085,25 @@ message RaytracerViewConfiguration // data being provided by the simulation environment - which must // be one of the values the sensor model requested - or there // must be no value, indicating that the simulation environment - // cannot provide raytracer data in one of the requested formats. + // cannot provide ray tracer data in one of the requested formats. // - repeated RaytracerFormat raytracer_format = 9; + repeated RayTracerFormat ray_tracer_format = 9; - // Different predefined raytracer formats + // Different predefined ray tracer formats // - enum RaytracerFormat + enum RayTracerFormat { // Type of channel format is unknown (must not be used). // - RAYTRACER_FORMAT_UNKNOWN = 0; + RAY_TRACER_FORMAT_UNKNOWN = 0; // Unspecified but known channel format. // Consider proposing an additional format if using - // \c #RAYTRACER_FORMAT_OTHER. + // \c #RAY_TRACER_FORMAT_OTHER. // - RAYTRACER_FORMAT_OTHER = 1; + RAY_TRACER_FORMAT_OTHER = 1; - // Raytracer format for Shoot and Bounce Approach (adapted for + // Ray tracer format for Shoot and Bounce Approach (adapted for // electromagnetic wave propagation) [1] // // The 64-byte message consists of the fields in the described order, @@ -1145,29 +1144,29 @@ message RaytracerViewConfiguration // // * \c direction_of_arrival_hitpoint - float32[3] (meters): // - // Coordinates of the DoA (last hitpoint) in the raytracer's + // Coordinates of the DoA (last hitpoint) in the ray tracer's // coordinate system defined by the mounting position. // // Order: x, y, z // - // Coordinate system: right-handed ([see OSI coordinate system definition](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/usecases/transforming_coordinate_systems.html)) + // Coordinate system: right-handed (see OSI coordinate system definition) // // Offset: 40 (12 bytes) // // * \c direction_of_departure_hitpoint - float32[3] (meters): // - // Coordinates of the DoD (first hitpoint) in the raytracer's + // Coordinates of the DoD (first hitpoint) in the ray tracer's // coordinate system defined by the mounting position. // // Order: x, y, z // - // Coordinate system: right-handed ([see OSI coordinate system definition](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/usecases/transforming_coordinate_systems.html)) + // Coordinate system: right-handed (see OSI coordinate system definition) // // Offset: 52 (12 bytes) // // /par Reference // [1] Brem, R., & Eibert, T. F. (2015, August). A Shooting and Bouncing Ray (SBR) Modeling Framework Involving Dielectrics and Perfect Conductors. IEEE Transactions on Antennas and Propagation, 63(8), 3599-3609. https://doi.org/10.1109/TAP.2015.2438318 // - RAYTRACER_FORMAT_SBR = 2; - } + RAY_TRACER_FORMAT_SBR = 2; + } } From 920568a0804b395c38ee94ff80aebddc6f8daed8 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 30 Oct 2025 08:57:36 +0100 Subject: [PATCH 10/10] Fix spelling and spellchecks Signed-off-by: Thomas Sedlmayer --- .github/spelling_custom_words_en_US.txt | 14 ++++++++++++++ osi_sensorviewconfiguration.proto | 4 ++-- 2 files changed, 16 insertions(+), 2 deletions(-) diff --git a/.github/spelling_custom_words_en_US.txt b/.github/spelling_custom_words_en_US.txt index e1dbe552b..2ffdd3768 100644 --- a/.github/spelling_custom_words_en_US.txt +++ b/.github/spelling_custom_words_en_US.txt @@ -40,10 +40,12 @@ bggr Biblio bicyclesback bildgebendes +bmatrix bool boolean Botts bp +Brem br britannica candela @@ -95,6 +97,7 @@ ECE edn edu egm +Eibert eilvterm ein Einheiten @@ -105,6 +108,7 @@ Encyclopaedia endcode Ende Endeninch +endian endlink endrules engl @@ -161,7 +165,10 @@ haben Hafengebiet Hagen halten +hh hier +Hitpoint +hitpoint Hochwasser hoverboards href @@ -170,6 +177,7 @@ htm html http https +hv hypot ietf illuminance @@ -187,6 +195,7 @@ io IRI iso itu +jones jpg Karamihas Karlsruhe @@ -225,6 +234,7 @@ Nebenstrecke neuer nicht Nicolaus +nm noao NONDRIVING Normung @@ -260,6 +270,7 @@ Parkstände Paulat pdf png +polarisation Polizeikontrolle polyline positionally @@ -295,6 +306,7 @@ Sa SAE sae samstags +SBR Schienenfahrzeuge Schleudergefahr Schlupf @@ -362,9 +374,11 @@ Verkehrsführung Verkehrstechnik verkehrszeichen Verschmutzte +vh Vorfahrt Vorschriftzeichen Vorweg +vv vz VzKat vzkat diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index ad1c01ea5..67852661b 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -1050,7 +1050,7 @@ message RayTracerViewConfiguration // optional double maximum_signal_loss = 6; - // The maximum path length desribes the ray's maximum overall distance. If + // The maximum path length describes the ray's maximum overall distance. If // the maximum path length is reached during simulation no further // interaction is calculated. // @@ -1058,7 +1058,7 @@ message RayTracerViewConfiguration // optional double max_path_length = 7; - // The maximum number of interaction desribes the ray's maximum hits with + // The maximum number of interaction describes the ray's maximum hits with // surfaces. If the maximum number of interaction is reached during // simulation no further interaction is calculated. //