fix(docs): implement review comments (#549)

Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>

Author: max-rosin

doc/architecture/reference_points_coordinate_systems.adoc

@@ -6,11 +6,14 @@ OSI uses three coordinate systems:
 World coordinate system::
 Coordinate system for all entities which are part of ground truth.
 The world coordinate system is an inertial x/y/z-coordinate system.
+The origin is the global reference point, which is determined by the environment simulation.
+This reference point may be derived from map data or other considerations.
+World coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`.
 
 Sensor coordinate system::
 Coordinate system for all entities which are part of sensor data.
-The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology.
+The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message.
 
 Object coordinate system::
-Coordinate system for local object coordinates.
+Local object coordinate system.
 The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box.

doc/architecture/sensor_view.adoc

@@ -1,8 +1,9 @@
 = Sensor view
 
-Sensor view imitates the input of sensors.
+Sensor view provides the input to OSI sensor models.
 Sensor-view messages are derived from ground-truth messages.
 All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions:
 
 * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position.
+  Example: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`]
 * Ground truth, given in the global coordinate system.

doc/architecture/sensor_view_configuration.adoc

@@ -1,15 +1,17 @@
 = Sensor view configuration
 
 The sensor view configuration configures the sensor view.
+Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model.
+
 There are two sources for sensor-view-configuration data.
 
 Sensor-view-configuration data can be provided by the environment simulation.
-In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model.
+Note that the data is intended for the automatic configuration of an environment simulation.
 Sensor-view-configuration data is not intended to provide parameters to a sensor model. 
 
 Sensor-view-configuration data can also be provided by the sensor model to the environment simulation.
-In this case, the data describes the input configuration that is desired by the sensor model.
+In this case, the data describes the input configuration that is requested by the sensor model.
 In response, the environment simulation will configure the input and provide a new message which describes the actual configuration.
-The configuration requested by the sensor model may differ from the actual configuration.
-This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous.
-The message describing the requested configuration differs from the message describing the actual configuration.
+The configuration requested by the sensor model may differ from the configuration provided by the simulation environment.
+This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous.
+The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the simulation environment.

doc/setup/installing_linux_cpp.adoc

@@ -38,7 +38,7 @@ cd build
 ----
 +
 . Run cmake.
-  To build a 32-bit target under 64-bit linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command.
+  To build a 32-bit target under 64-bit Linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command.
   In this case, protobuf must be in 32-bit mode too.
 +
 [source]