Docs: move links to absolute url to relative ones

docs/FAQs/Calibration_FAQs.md

@@ -1,7 +1,6 @@
 # Calibration FAQs
 
-## How to Check  Sensor Output?
-
+## How to Check Sensor Output?
 
 Use the `rostopic` command. For example, type the following command to check the
 output of HDL-64ES3:
@@ -14,28 +13,41 @@ If the topic data is displayed on the terminal, the LiDAR works normally.
 
 ## How to Check INS Status?
 
-Using Novatel INS as an example, type the following command to check the INS status:
+Using Novatel INS as an example, type the following command to check the INS
+status:
 
 ```bash
 rostopic echo /apollo/sensor/gnss/ins_stat
 ```
 
-Find the `pos_type` field:  If the value is 56, it has entered a good positioning status (RTK_FIXED) and can be used for calibration. If it is not 56, reliable calibration results cannot be obtained.
+Find the `pos_type` field: If the value is 56, it has entered a good positioning
+status (RTK_FIXED) and can be used for calibration. If it is not 56, reliable
+calibration results cannot be obtained.
 
 ## How to Complete a Quality Inspection?
 
-At present, you complete the quality verification manually with a visual inspection of the results.
+At present, you complete the quality verification manually with a visual
+inspection of the results.
+
+When the calibration is completed, the point cloud stitched during the
+calibration process is provided. In the point cloud, details of the calibration
+field can be easily identified. Assess the calibration quality for clarity. Look
+at objects such as building facades, street lights, poles and road curbs. If the
+point cloud is blurry and a ghosting effect can be found, the calibration is
+poor. If the calibration result is good, a sharp and clear stitched point cloud
+is shown.
 
-When the calibration is completed, the point cloud stitched during the calibration process is provided.  In the point cloud, details of the calibration field can be easily identified. Assess the calibration quality for clarity. Look at objects such as building facades, street lights, poles and road curbs.   If the point cloud is blurry and a ghosting effect can be found, the calibration is poor. If the calibration result is good, a sharp and clear stitched point cloud is shown.
+Figure 1 shows the comparison between the stitched point clouds with good (a)
+and insufficient(b) calibration quality.
 
-Figure 1 shows the comparison between the stitched point clouds with good (a) and insufficient(b) calibration quality.
+![](../quickstart/images/calibration/lidar_calibration/good_calib.png)
 
-![](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/images/calibration/lidar_calibration/good_calib.png)
 <p align="center">
 (a)
 </p>
 
-![](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/images/calibration/lidar_calibration/poor_calib.png)
+![](../quickstart/images/calibration/lidar_calibration/poor_calib.png)
+
 <p align="center">
 (b)
 </p>
@@ -46,11 +58,12 @@ Figure 1. (a) a high quality calibration result (b) an insufficient one.
 
 ## How to solve the permission error of calibration tools?
 
-Output path needs `write` permission to be created folders and saved results. If the path is missing the relevant permissions, you will receive the following error:
-
+Output path needs `write` permission to be created folders and saved results. If
+the path is missing the relevant permissions, you will receive the following
+error:
 
 ```bash
-terminate called after throwing an instance of ‘boost::filesystem::filesystem_error’ what(): boost::filesystem::create_directories: permission denied: “***” 
+terminate called after throwing an instance of 'boost::filesystem::filesystem_error' what(): boost::filesystem::create_directories: permission denied: "***"
 ```
 
 Enter the following command to add `write` permission:
@@ -62,7 +75,8 @@ sudo chmod a+w /apollo/modules/calibration/data/mkz8 -R
 
 ## How to solve permission error when running sensor_calibration.sh?
 
-Log path needs `write` permission to be created log files. If it is missing the relevant permissions, you will receive the following error:
+Log path needs `write` permission to be created log files. If it is missing the
+relevant permissions, you will receive the following error:
 
 ```bash
 tee: /apollo/data/log/***.out: permission denied
@@ -72,4 +86,4 @@ Enter the following command to add `write` permission:
 
 ```bash
 sudo chmod a+w /apollo/data/log
-```
+```

docs/FAQs/Calibration_FAQs_cn.md

@@ -7,7 +7,8 @@
 ```bash
  rostopic echo /apollo/sensor/velodyne64/VelodyneScanUnified
 ```
- 若该 topic 的数据会显示在终端上，则激光雷达工作正常。
+
+若该 topic 的数据会显示在终端上，则激光雷达工作正常。
 
 ## 如何查看车辆的定位状态?
 
@@ -17,18 +18,24 @@
 rostopic echo /apollo/sensor/gnss/ins_stat
 ```
 
-找到“pos_type”字段，若该字段的值为 56，则表示进入了良好的定位状态 (RTK_FIXED)，可以用于标定。若不为 56，则无法获得可靠的标定结果。
+找到“pos_type”字段，若该字段的值为 56，则表示进入了良好的定位状态 (RTK_FIXED)，
+可以用于标定。若不为 56，则无法获得可靠的标定结果。
 
 ## 如何进行质检?
 
-目前进行质检方法主要通过人工来完成。标定完成后，页面会提供标定过程中拼接得到的点云。若标定结果良好，会得到锐利和清晰的拼接点云，可反映出标定场地的细节。通常质检的参照物有平整的建筑立面、路灯和电线杆以及路沿等。若标定质量较差，则会使拼接点云出现一些模糊、重影的效果。图1是两张不同标定质量的拼接点云对比。
+目前进行质检方法主要通过人工来完成。标定完成后，页面会提供标定过程中拼接得到的点
+云。若标定结果良好，会得到锐利和清晰的拼接点云，可反映出标定场地的细节。通常质检
+的参照物有平整的建筑立面、路灯和电线杆以及路沿等。若标定质量较差，则会使拼接点云
+出现一些模糊、重影的效果。图 1 是两张不同标定质量的拼接点云对比。
+
+![](../quickstart/images/calibration/lidar_calibration/good_calib.png)
 
-![](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/images/calibration/lidar_calibration/good_calib.png)
 <p align="center">
 (a)
 </p>
 
-![](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/images/calibration/lidar_calibration/poor_calib.png)
+![](../quickstart/images/calibration/lidar_calibration/poor_calib.png)
+
 <p align="center">
 (b)
 </p>
@@ -39,22 +46,23 @@ rostopic echo /apollo/sensor/gnss/ins_stat
 
 ## 如何解决标定程序权限错误？
 
-Output path需要`write`权限来创建文件夹以及保存标定结果，若缺少相关权限，则会出现如下错误：
+Output path 需要`write`权限来创建文件夹以及保存标定结果，若缺少相关权限，则会出
+现如下错误：
 
 ```bash
-terminate called after throwing an instance of ‘boost::filesystem::filesystem_error’ what(): boost::filesystem::create_directories: permission denied: “***” 
+terminate called after throwing an instance of ‘boost::filesystem::filesystem_error’ what(): boost::filesystem::create_directories: permission denied: "***"
 ```
 
-输入以下命令，来为Output path添加`write`权限：
+输入以下命令，来为 Output path 添加`write`权限：
 
 ```bash
 # 为output path(如：/apollo/modules/calibration/data/mkz8)添加write权限
 sudo chmod a+w /apollo/modules/calibration/data/mkz8 -R
 ```
 
-## 如何解决执行sensor_calibration.sh时出现的权限错误？
+## 如何解决执行 sensor_calibration.sh 时出现的权限错误？
 
-Log存储文件夹需要`write`权限来创建日志，若缺少相关权限，则会出现如下错误：
+Log 存储文件夹需要`write`权限来创建日志，若缺少相关权限，则会出现如下错误：
 
 ```bash
 tee: /apollo/data/log/***.out: permission denied