diff --git a/README.md b/README.md index 4fa8b909b7b95b3f0776a2135ccf3e5396597dab..181aa88ca5abd8e74a4d61431c6002ff6fc81c8e 100644 --- a/README.md +++ b/README.md @@ -32,15 +32,13 @@ For business and partnership, please visit [our website](http://apollo.auto). ## Getting Started -**Please refer to the -[migration guide](docs/howto/how_to_migrate_to_apollo_3_5_from_old_versions.md) -for information about migrating to the brand new Apollo 3.5 from an old version. +**The Apollo Team now proudly presents to you the latest [version 3.5](docs/quickstart/apollo_3_5_quick_start.md).** **The Apollo Team now proudly presents to you the latest [version 3.0](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start.md).** - Apollo 3.0 is loaded with new modules and features, but needs to be calibrated and configured perfectly before you take it for a spin. Please review the prerequisites and installation steps in detail to ensure that you are well equipped to build and launch Apollo. You could also check out Apollo's architecture overview for a greater understanding on Apollo's core technology and platform. + Apollo 3.5 is packed with the latest sensor suite (VLS-128, AXU, FPD-Link Cameras), software architecture and a brand new runtime framework. Please review the prerequisites and installation steps in detail to ensure that you are well equipped to build and launch Apollo. You could also check out Apollo's architecture overview for a greater understanding on Apollo's core technology and platform. -[Want to contribute to our code?](https://github.com/ApolloAuto/apollo/blob/master/CONTRIBUTING.md) follow this guide. +[Want to contribute to our code?](CONTRIBUTING.md) follow this guide. ## Prerequisites @@ -56,8 +54,8 @@ for information about migrating to the brand new Apollo 3.5 from an old version. - Please note, it is recommended that you install the versions of Apollo in the following order: - **1.0 > 1.5 > 2.0 > 2.5 > 3.0**. - The reason behind this recommendation is that you need to confirm whether individual hardware components + **1.0 > the version that suits your requirements**. + The reason behind this recommendation is that you need to confirm whether individual hardware components and modules are functioning correctly and clear various version test cases, before progressing to a higher more capable version for your safety and the safety of those around you. @@ -70,7 +68,7 @@ The following diagram highlights the scope and features of each Apollo release: ![](docs/demo_guide/images/apollo_versions_3.png) -[**Apollo 1.0:**](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md) +[**Apollo 1.0:**](docs/quickstart/apollo_1_0_hardware_system_installation_guide.md) Apollo 1.0 also referred to as the Automatic GPS Waypoint Following, works in an enclosed venue such as a test track or parking lot. This installation is necessary to ensure that Apollo works perfectly with your vehicle. The diagram below lists the various modules in Apollo 1.0. @@ -98,7 +96,7 @@ Apollo 1.0 also referred to as the Automatic GPS Waypoint Following, works in an * Apollo Linux Kernel (based on Linux Kernel 4.4.32) -[**Apollo 1.5:**](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_hardware_system_installation_guide.md) +[**Apollo 1.5:**](docs/quickstart/apollo_1_5_hardware_system_installation_guide.md) Apollo 1.5 is meant for fixed lane cruising. With the addition of LiDAR, vehicles with this version now have better perception of its surroundings and can better map its current position and plan its trajectory for safer maneuvering on its lane. Please note, the modules highlighted in Yellow are additions or upgrades for version 1.5. @@ -118,7 +116,7 @@ Apollo 1.5 is meant for fixed lane cruising. With the addition of LiDAR, vehicle * Nvidia GPU Driver -[**Apollo 2.0:**](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_hardware_system_installation_guide_v1.md#key-hardware-components) +[**Apollo 2.0:**](docs/quickstart/apollo_2_0_hardware_system_installation_guide_v1.md#key-hardware-components) Apollo 2.0 supports vehicles autonomously driving on simple urban roads. Vehicles are able to cruise on roads safely, avoid collisions with obstacles, stop at traffic lights and change lanes if needed to reach their destination. Please note, the modules highlighted in Red are additions or upgrades for version 2.0. @@ -140,7 +138,7 @@ Apollo 2.0 supports vehicles autonomously driving on simple urban roads. Vehicle * Same as 1.5 -[**Apollo 2.5:**](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md) +[**Apollo 2.5:**](docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md) Apollo 2.5 allows the vehicle to autonomously run on geo-fenced highways with a camera for obstacle detection. Vehicles are able to maintain lane control, cruise and avoid collisions with vehicles ahead of them. @@ -164,7 +162,7 @@ and we want to ensure Apollo 2.5 was integrated correctly with your vehicle befo * Same as 2.0 -[**Apollo 3.0:**](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start.md) +[**Apollo 3.0:**](docs/quickstart/apollo_3_0_quick_start.md) Apollo 3.0's main focus is to provide a platform for developers to build upon in a closed venue low-speed environment. Vehicles are able to maintain lane control, cruise and avoid collisions with vehicles ahead of them. @@ -184,6 +182,33 @@ Apollo 3.0's main focus is to provide a platform for developers to build upon in * Monitor * Additional drivers to support Hardware +[**Apollo 3.5:**]() + +Apollo 3.5 is capable of navigating through complex driving scenarios such as residential and downtown areas. The car now has 360-degree visibility, along with upgraded perception algorithms to handle the changing conditions of urban roads, making the car more secure and aware. Scenario-based planning can navigate through complex scenarios including unprotected turns and narrow streets often found in residential areas and roads with stop signs. + +![image alt text](docs/demo_guide/images/Apollo_3_5_Architecture.png) + +**For Setup:** + +* Hardware: + + * Velodyne VLS - 128 + * Apollo Extension Unit (AXU) + * ARGUS FPD-Link Cameras (3) + * NovAtel PwrPak7 + * Additional IPC + +* Software: + + * Perception + * Planning + * V2X + * Additional drivers to support Hardware + +* Runtime Framework + * Cyber RT + + ## Architecture * **Hardware/ Vehicle Overview** @@ -192,33 +217,36 @@ Apollo 3.0's main focus is to provide a platform for developers to build upon in * **Hardware Connection Overview** -![image alt text](docs/demo_guide/images/Hardware_connection.png) +![image alt text](docs/demo_guide/images/Hardware_connection1_3_5.png) * **Software Overview - Navigation Mode** ![image alt text](docs/specs/images/Apollo_3.0_SW.png) + ## Installation * [Fork and then Clone Apollo's GitHub code](https://github.com/ApolloAuto/apollo) -* [Build and Release using Docker](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md) - This step is required +* [Build and Release using Docker](docs/howto/how_to_build_and_release.md) - This step is required -* [Launch and Run Apollo](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_launch_Apollo.md) +* [Launch and Run Apollo](docs/howto/how_to_launch_Apollo.md) If at this point, you do not have a Hardware setup, please go to [Without Hardware](#without-hardware). ### With Hardware: -* [Apollo 1.0 QuickStart Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start.md) +* [Apollo 1.0 QuickStart Guide](docs/quickstart/apollo_1_0_quick_start.md) + +* [Apollo 1.5 QuickStart Guide](docs/quickstart/apollo_1_5_quick_start.md) -* [Apollo 1.5 QuickStart Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_quick_start.md) +* [Apollo 2.0 QuickStart Guide](docs/quickstart/apollo_2_0_quick_start.md) -* [Apollo 2.0 QuickStart Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_quick_start.md) +* [Apollo 2.5 QuickStart Guide](docs/quickstart/apollo_2_5_quick_start.md) -* [Apollo 2.5 QuickStart Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_5_quick_start.md) +* [Apollo 3.0 QuickStart Guide](docs/quickstart/apollo_3_0_quick_start.md) -* [Apollo 3.0 QuickStart Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start.md) +* [Apollo 3.5 QuickStart Guide](docs/quickstart/apollo_3_5_quick_start.md) ### Without Hardware: diff --git a/docs/demo_guide/images/Apollo_3_5_Architecture.png b/docs/demo_guide/images/Apollo_3_5_Architecture.png new file mode 100644 index 0000000000000000000000000000000000000000..b5770840c101d7caa32bb6629a7d64ec8491cde3 Binary files /dev/null and b/docs/demo_guide/images/Apollo_3_5_Architecture.png differ diff --git a/docs/demo_guide/images/Hardware_connection_3_5.png b/docs/demo_guide/images/Hardware_connection_3_5.png new file mode 100644 index 0000000000000000000000000000000000000000..1853216dd839d062f7d8d622429a9b4ff6c9ee92 Binary files /dev/null and b/docs/demo_guide/images/Hardware_connection_3_5.png differ diff --git a/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md b/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md index 05d1a41cbca4a36483b6f8e418429309f32c02cb..951739ba7365faa76c17d3d40c09acf88e9c832f 100644 --- a/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md +++ b/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md @@ -3,7 +3,7 @@ ## 1. Preparation - Download source code of Apollo from [GitHub](https://github.com/ApolloAuto/apollo) - Follow the tutorial to set up [docker environment](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md) and [build Apollo](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_launch_Apollo.md). - - Download localization data from [Apollo Data Open Platform](http://data.apollo.auto/?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en)（US only. + - Download localization data from [Apollo Data Open Platform](http://data.apollo.auto/?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en)（US only) ## 2. Configuring Parameters Assume that the path to download localization data from is DATA_PATH. diff --git a/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md b/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md new file mode 100644 index 0000000000000000000000000000000000000000..2c028bf4bcb7c4aea3aec238bdd4f694e0144537 --- /dev/null +++ b/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md @@ -0,0 +1,181 @@ +# Apollo 3.5 Hardware and System Installation Guide + +* [About This Guide](#about-this-guide) + * [Document Conventions](#document-conventions) +* [Introduction](#introduction) + * [Documentation](#documentation) +* [Key Hardware Components](#key-hardware-components) + * [Additional Components Required](#additional-components-required) +* [Steps for the Installation Tasks](#steps-for-the-installation-tasks) + * [At the Office](#at-the-office) + * [In the Vehicle](#in-the-vehicle) + * [Prerequisites](#prerequisites) + * [Diagrams of the Major Component Installations](#diagrams-of-the-major-component-installations) +* [Additional Tasks Required](#additional-tasks-required) +* [Next Steps](#next-steps) + + +## About This Guide + +The *Apollo 3.5 Hardware and System Installation Guide* provides the instructions to install all of the hardware components and system software for the **Apollo Project**. The system installation information included pertains to the procedures to download and install the Apollo Linux Kernel. + +### Document Conventions + +The following table lists the conventions that are used in this document: + +| **Icon** | **Description** | +| ----------------------------------- | ---------------------------------------- | +| **Bold** | Emphasis | +| `Mono-space font` | Code, typed data | +| _Italic_ | Titles of documents, sections, and headings Terms used | +| ![info](images/info_icon.png) | **Info** Contains information that might be useful. Ignoring the Info icon has no negative consequences. | +| ![tip](images/tip_icon.png) | **Tip**. Includes helpful hints or a shortcut that might assist you in completing a task. | +| ![online](images/online_icon.png) | **Online**. Provides a link to a particular web site where you can get more information. | +| ![warning](images/warning_icon.png) | **Warning**. Contains information that must **not** be ignored or you risk failure when you perform a certain task or step. | + +## Introduction + +The **Apollo Project** is an initiative that provides an open, complete, and reliable software platform for Apollo partners in the automotive and autonomous driving industries. The aim of this project is to enable these entities to develop their own self-driving systems based on the Apollo software stack. + +### Documentation + +The following set of documentation describes Apollo 3.0: + +- ***[Apollo Hardware and System Installation Guide]*** ─ Links to the Hardware Development Platform Documentation in Specs + + - **Vehicle**: + + - [Industrial PC (IPC)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/IPC/Nuvo-6108GC_Installation_Guide.md) + - [Global Positioning System (GPS)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) + - [Inertial Measurement Unit (IMU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) + - Controller Area Network (CAN) card + - GPS Antenna + - GPS Receiver + - [Light Detection and Ranging System (LiDAR)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Lidar/README.md) + - [Camera](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Camera/README.md) + - [Radar](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Radar/README.md) + - [Apollo Sensor Unit (ASU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md) + - Apollo Extension Unit (AXU) + + - **Software**: Refer to the [Software Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Software_and_Kernel_Installation_guide.md) for information on the following: + - Ubuntu Linux + - Apollo Linux Kernel + - NVIDIA GPU Driver + +- ***[Apollo Quick Start Guide]*** ─ The combination of a tutorial and a roadmap that provides the complete set of end-to-end instructions. The Quick Start Guide also provides links to additional documents that describe the conversion of a regular car to an autonomous-driving vehicle. + +## Key Hardware Components + +The key hardware components to install include: + +- Onboard computer system ─ Neousys Nuvo-6108GC (2) +- Controller Area Network (CAN) Card ─ ESD CAN-PCIe/402-B4 +- Global Positioning System (GPS) and Inertial Measurement Unit (IMU) ─ + You can select one of the following options: + - NovAtel SPAN-IGM-A1 + - NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1 + - NovAtel SPAN® PwrPak7™ + - Navtech NV-GI120 +- Light Detection and Ranging System (LiDAR) ─ You can select one of the following options, please note Apollo 3.5 uses VLS-128 LiDAR: + - [Velodyne VLS-128](https://github.com/ApolloAuto/apollo2/blob/master/docs/specs/Lidar/VLS_128_Installation_Guide.md) + - Velodyne HDL-64E S3 + - Velodyne Puck series + - Innovusion LiDAR + - Hesai's Pandora +- Cameras — You can select one of the following options: + - Leopard Imaging LI-USB30-AR023ZWDR with USB 3.0 case + - Argus Camera (FPD-Link) + - Wissen Camera +- Radar — You can select one of the following options: + - Continental ARS408-21 + - Racobit B01HC + +### Additional Components Required + +You need to provide these additional components for the Additional Tasks Required: + +- Apollo Sensor Unit (ASU) +- Apollo Extension Unit (AXU) +- A 4G router for Internet access +- A USB hub for extra USB ports +- A monitor, keyboard, and mouse for debugging at the car onsite +- Cables: a Digital Visual Interface (DVI) cable (optional), a customized cable for GPS-LiDAR time synchronization +- Apple iPad Pro: 9.7-inch, Wi-Fi (optional) + +The features of the key hardware components are presented in the subsequent sections. + +## Steps for the Installation Tasks + +This section describes the steps to install: + +- The key hardware and software components +- The hardware in the vehicle + +### At the Office + +Perform the following tasks: + +- Prepare the IPC: + - Install the CAN card + - Install or replace the hard drive + - Prepare the IPC for powering up + +- Install the software for the IPC: + - Ubuntu Linux + - Apollo Kernel + - Nvidia GPU Driver + +The IPC is now ready to be mounted on the vehicle. + +### In the Vehicle + +Perform these tasks: + +- Make the necessary modifications to the vehicle as specified in the list of prerequisites +- Install the major components: + - GPS Antenna + - IPC + - GPS Receiver and IMU + - LiDAR + - Cameras + - Radar + + +#### Prerequisites + +**![warning_icon](images/warning_icon.png)WARNING**: Prior to mounting the major components (GPS Antenna, IPC, and GPS Receiver) in the vehicle, perform certain modifications as specified in the list of prerequisites. The instructions for making the mandatory changes in the list are outside the scope of this document. + +The list of prerequisites are as follows: + +- The vehicle must be modified for “drive-by-wire” technology by a professional service company. Also, a CAN interface hookup must be provided in the trunk where the IPC will be mounted. +- A power panel must be installed in the trunk to provide power to the IPC and the GPS-IMU. The power panel would also service other devices in the vehicle such as a 4G LTE router. The power panel should be hooked up to the power system in the vehicle. +- A custom-made rack must be installed to mount the GPS-IMU Antenna, the cameras and the LiDAR's on top of the vehicle. +- A custom-made rack must be installed to mount the GPS-IMU in the trunk. +- A custom-made rack must be installed in front of the vehicle to mount the front-facing radar. +- A 4G LTE router must be mounted in the trunk to provide Internet access for the IPC. The router must have built-in Wi-Fi access point (AP) capability to connect to other devices, such as an iPad, to interface with the autonomous driving (AD) system. A user would be able to use the mobile device to start AD mode or monitor AD status, for example. + +#### Diagrams of the Major Component Installations + +The following two diagrams indicate the locations of where the three major components (GPS Antenna, IPC, GPS Receiver and LiDAR) should be installed on the vehicle: + +![major_component_side_view](https://github.com/ApolloAuto/apollo/blob/master/docs/demo_guide/images/Hardware_overview.png) + +![major_component_rear_view](images/Car_Rearview.png) + +## Additional Tasks Required + +Use the components that you were required to provide to perform the following tasks: + +1. Connect a monitor using the DVI or the HDMI cables and connect the keyboard and mouse to perform debugging tasks at the car onsite. + +2. Establish a Wi-Fi connection on the Apple iPad Pro to access the HMI and control the Apollo ADS that is running on the IPC. + +## Time Sync Script Setup [Optional] + +In order to, sync the computer time to the NTP server on the internet, you could use the [Time Sync script](https://github.com/ApolloAuto/apollo/blob/master/scripts/time_sync.sh) + + +## Next Steps + +After you complete the hardware installation in the vehicle, see the [Apollo Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_quick_start.md) for the steps to complete the software installation. + diff --git a/docs/quickstart/apollo_3_5_quick_start.md b/docs/quickstart/apollo_3_5_quick_start.md new file mode 100644 index 0000000000000000000000000000000000000000..58a82f201103816247ddf8fe58b056a7685caaec --- /dev/null +++ b/docs/quickstart/apollo_3_5_quick_start.md @@ -0,0 +1,86 @@ +# Apollo 3.5 Quick Start Guide + +The following guide serves as a user manual for launching the Apollo 3.5 +software and hardware stack on vehicle. + +The Apollo 3.5 Quick Start Guide focuses on Apollo 3.5's new features. For general Apollo concepts, please refer to +[Apollo 1.0 Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start.md). + +## Contents + +- [Calibration Guide](#calibration-guide) +- [Hardware and Software Installation](#hardware-and-software-installation) +- [Dreamview Usage Table](#dreamview-usage-table) +- [Onboard Test](#onboard-test) + +## Calibration Guide + +For the vehicle's onboard testing make sure you have calibrated all the sensors. For +sensor calibration, please refer to +[Apollo 2.0 Sensor Calibration Guide](apollo_2_0_sensor_calibration_guide.md) +before you proceed. + +## Hardware and Software Installation + +Please refer to +[Apollo 3.5 Hardware and System Installation Guide](apollo_3_5_hardware_system_installation_guide.md) +for the steps to install the hardware components and the system software, as well as +[Apollo Software Installation Guide](apollo_software_installation_guide.md). + +## Dreamview Usage Table + +For questions regarding Dreamview icons refer to the +[Dreamview Usage Table](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md). + +## Onboard Test + +1. Plug-in an external hard-drive to any available USB port in the host machine. + +2. Turn on the vehicle, and then the host machine. + +3. Launch Docker Release Container. + +4. Launch DreamView. + + Note\: Use your favorite browser to access Dreamview web service in your host + machine browser with URL http://localhost:8888. + + ![](images/dreamview_2_5.png) + +5. Select Mode, Vehicle and Map. + + ![](images/dreamview_2_5_setup_profile.png) + + Note\: You'll be required to setup profile before doing anything else. Click + the dropdown menu to select **Navigation** mode, the HDMap and vehicle you + want to use. The lists are defined in + [HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/dreamview/conf/hmi.conf). + + Note\: It's also possible to change the profile on the right panel of the + HMI, but just remember to click `Reset All` on the top-right corner to + restart the system. + +6. Start the Modules. + + Click the `Setup` button. + + ![](images/dreamview_2_5_setup.png) + + Go to **Module Controller** tab, check if all modules and hardware are ready. + (Note\: In your offline environment, the hardware modules such as GPS, + CANBus, Velodyne, Camera and Radar cannot be brought up.) + (Note\: You may need to drive around a bit to get a good GPS signal.) + + ![](images/dreamview_2_5_module_controller.png) + +7. Under `Default Routing` select your desired route. + +8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous + driving, you should now be in autonomous mode.) + + ![](images/dreamview_2_5_start_auto.png) + +9. After the autonomous testing is complete, under Tasks click `Reset All`, close all + windows and shutdown the machine. + +10. Remove the hard drive. diff --git a/docs/specs/Camera/Truly_Argus_Camera_Installation_Guide.md b/docs/specs/Camera/Truly_Argus_Camera_Installation_Guide.md index ab0bd4fc68c69aec902062a46326985a7640ce8b..bb767ceee649190be306f362b90252b48835c6af 100644 --- a/docs/specs/Camera/Truly_Argus_Camera_Installation_Guide.md +++ b/docs/specs/Camera/Truly_Argus_Camera_Installation_Guide.md @@ -1,8 +1,8 @@ # Guide for Argus Camera -Argus camera is a joint development venture product of Truly Seminconductors Itd. and Baidu. The Argus camera features high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on AR230 1080P sensor and AP0202 ISP from ON Semiconductor. +Argus camera is a joint development venture product of Truly Seminconductors Ltd. and Baidu. The Argus camera features high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on ON Semiconductor MARS. -We recommend using ```three cameras```, two with **6 mm** lens and one with **25 mm** lens to achieve the required performance for the traffic light detection application. +We recommend using ```three cameras```, one with **6 mm** lens, one with **12 mm** lens and the last one with **2.33 mm** to achieve the required performance for the traffic light detection application. ![camera_image](images/Argus_pic.png) diff --git a/docs/specs/Camera/images/Argus_Specs1.png b/docs/specs/Camera/images/Argus_Specs1.png deleted file mode 100644 index fef5bd96afb7982aa76f69440b8194a416ec9d1f..0000000000000000000000000000000000000000 Binary files a/docs/specs/Camera/images/Argus_Specs1.png and /dev/null differ diff --git a/docs/specs/Camera/images/Argus_Specs2.png b/docs/specs/Camera/images/Argus_Specs2.png new file mode 100644 index 0000000000000000000000000000000000000000..35ce22b9dd334cb944c497a4067de69b073c81eb Binary files /dev/null and b/docs/specs/Camera/images/Argus_Specs2.png differ diff --git a/docs/specs/Camera/images/Argus_specs2.png b/docs/specs/Camera/images/Argus_specs2.png index 684cfc5c60a049173e6ed9051a0fc5975c87b342..35ce22b9dd334cb944c497a4067de69b073c81eb 100644 Binary files a/docs/specs/Camera/images/Argus_specs2.png and b/docs/specs/Camera/images/Argus_specs2.png differ diff --git a/docs/specs/Lidar/README.md b/docs/specs/Lidar/README.md index d540f2b98b97c5602fcb2a0024586fe97d7203ee..0359806a29e92fd13a8bb89de6b722c8ee5350d9 100644 --- a/docs/specs/Lidar/README.md +++ b/docs/specs/Lidar/README.md @@ -5,5 +5,6 @@ You could integrate 3 types of LiDAR's with Apollo. Refer to their individual In 1. **Velodyne** - Apollo 3.0 provides support to 2 types of Velodyne LiDARs - [HDL64E-S3](HDL64E_S3_Installation_Guide.md) - [VLP Series](VLP_Series_Installation_Guide.md) + - [VLS-128] (VLS_128_Installation_Guide.md) 2. [Hesai](Hesai_Pandora_Installation_Guide.md) 3. [Innovusion](Innovusion_Note.md) \ No newline at end of file diff --git a/docs/specs/Lidar/VLS_128_Installation_Guide.md b/docs/specs/Lidar/VLS_128_Installation_Guide.md index 32b121ca86918b9b7f03d17bd1df9e10c854f622..b3dcd16ecec6b5a56506e67e63774a75b61969fb 100644 --- a/docs/specs/Lidar/VLS_128_Installation_Guide.md +++ b/docs/specs/Lidar/VLS_128_Installation_Guide.md @@ -2,7 +2,7 @@ Apollo 3.5 uses the latest 128 line LiDAR system **VLS-128** from Velodyne LiDAR, Inc. -![](images/vls_128.png) +![](images/VLS_128.png) ## Key Features: