Move Wiki pages to docs (#2803)

* [docs] Move drone survey wiki page

* [docs] Move Orbit Wiki page

* [docs] Move Point Clouds Wiki page

docs/drone_survey.md

@@ -0,0 +1,50 @@
+# Implementing a Drone Survey script
+
+Moved here from [https://github.com/microsoft/AirSim/wiki/Implementing-a-Drone-Survey-script](https://github.com/microsoft/AirSim/wiki/Implementing-a-Drone-Survey-script)
+
+Ever wanted to capture a bunch of top-down pictures of a certain location? Well, the Python API makes this really simple.  See the [code available here](https://github.com/microsoft/AirSim/blob/master/PythonClient/multirotor/survey.py).
+
+![survey](images/survey.png)
+
+Let's assume we want the following variables:
+
+| Variable      | Description |
+| ------------- | ------------- |
+| boxsize  | The overall size of the square box to survey |
+| stripewidth | How far apart to drive the swim lanes, this can depend on the type of camera lens, for example. |
+| altitude | The height to fly the survey. |
+| speed | The speed of the survey can depend on how fast your camera can snap shots. |
+
+So with these we can compute a square path box using this code:
+
+```python
+        path = []
+        distance = 0
+        while x < self.boxsize:
+            distance += self.boxsize
+            path.append(Vector3r(x, self.boxsize, z))
+            x += self.stripewidth
+            distance += self.stripewidth
+            path.append(Vector3r(x, self.boxsize, z))
+            distance += self.boxsize
+            path.append(Vector3r(x, -self.boxsize, z))
+            x += self.stripewidth
+            distance += self.stripewidth
+            path.append(Vector3r(x, -self.boxsize, z))
+            distance += self.boxsize
+```
+Assuming we start in the corner of the box, increment x by the stripe width, then fly the full y-dimension of `-boxsize` to `+boxsize`, so in this case, `boxsize` is half the size of the actual box we will be covering.
+
+Once we have this list of Vector3r objects, we can fly this path very simply with the following call:
+```python
+result = self.client.moveOnPath(path, self.velocity, trip_time, DrivetrainType.ForwardOnly,
+                                YawMode(False,0), lookahead, 1)
+```
+
+We can compute an appropriate `trip_time` timeout by dividing the distance of the path and the speed we are flying.
+
+The `lookahead` needed here for smooth path interpolation can be computed from the velocity using `self.velocity + (self.velocity/2)`.  The more lookahead, the smoother the turns.  This is why you see in the screenshot that the ends of each swimland are smooth turns rather than a square box pattern.  This can result in a smoother video from your camera also.
+
+That's it, pretty simple, eh?
+
+Now of course you can add a lot more intelligence to this, make it avoid known obstacles on your map, make it climb up and down a hillside so you can survey a slope, etc.  Lots of fun to be had.

docs/orbit.md

@@ -0,0 +1,21 @@
+# An Orbit Trajectory
+
+Moved here from [https://github.com/microsoft/AirSim/wiki/An-Orbit-Trajectory](https://github.com/microsoft/AirSim/wiki/An-Orbit-Trajectory)
+
+Have you ever wanted to fly a nice smooth circular orbit? This can be handy for capturing 3D objects from all sides especially if you get multiple orbits at different altitudes.
+
+So the `PythonClient/multirotor` folder contains a script named [Orbit](https://github.com/microsoft/AirSim/blob/master/PythonClient/multirotor/orbit.py) that will do precisely that.
+
+See [demo video](https://youtu.be/RFG5CTQi3Us)
+
+The demo video was created by running this command line:
+
+```shell
+python orbit.py --radius 10 --altitude 5 --speed 1 --center "0,1" --iterations 1
+```
+
+This flies a 10 meter radius orbit around the center location at (startpos + radius * [0,1]), in other words, the center is located `radius` meters away in the direction of the provided center vector.  It also keeps the front-facing camera on the drone always pointing at the center of the circle. If you watch the flight using LogViewer you will see a nice circular pattern get traced out on the GPS map:
+
+![image](images/orbit.png)
+
+The core of the algorithm is not that complicated.  At each point on the circle, we look ahead by a small delta in degrees, called the `lookahead_angle`, where that angle is computed based on our desired velocity.  We then find that lookahead point on the circle using sin/cosine and make that our "target point". Calculating the velocity then is easy, just subtract our current position from that point and feed that into the AirSim method `moveByVelocityZ`.

docs/point_clouds.md

@@ -0,0 +1,17 @@
+# Point Clouds
+
+Moved here from [https://github.com/microsoft/AirSim/wiki/Point-Clouds](https://github.com/microsoft/AirSim/wiki/Point-Clouds)
+
+A Python script [point_cloud.py](https://github.com/Microsoft/AirSim/blob/master/PythonClient/multirotor/point_cloud.py) shows how to convert the depth image returned from AirSim into a point cloud.
+
+The following depth image was captured using the Modular Neighborhood environment:
+
+![depth](images/depth.png)
+
+And with the appropriate projection matrix, the OpenCV `reprojectImageTo3D` function can turn this into a point cloud.  The following is the result, which is also available here: [https://skfb.ly/68r7y](https://skfb.ly/68r7y).
+
+![depth](images/point_cloud.png)
+
+[SketchFab](https://sketchfab.com) can upload the resulting file `cloud.asc` and render it for you.
+
+PS: you may notice the scene is reflected on the Y axis, so I may have a sign wrong in the projection matrix.  An exercise for the reader :-)

mkdocs.yml

@@ -9,7 +9,7 @@ markdown_extensions:
 
 remote_branch: gh-pages
 
-theme: 
+theme:
   name: 'readthedocs'
   logo:
     icon: ' '
@@ -22,14 +22,14 @@ extra:
   palette:
   social:
       - type: facebook
-        link: https://www.facebook.com/groups/1225832467530667/ 
+        link: https://www.facebook.com/groups/1225832467530667/
       - type: github-alt
         link: https://github.com/Microsoft/AirSim
 
 copyright: Copyright © 2018 Microsoft Research
 
 nav:
-  - "Home": 
+  - "Home":
     - "Home": 'README.md'
   - "Changelog": 'CHANGELOG.md'
   - "Get AirSim":
@@ -48,7 +48,7 @@ nav:
     - "C++ APIs": 'apis_cpp.md'
     - "Development Workflow": 'dev_workflow.md'
     - "Settings": 'settings.md'
-    - "Camera Views": 'camera_views.md'      
+    - "Camera Views": 'camera_views.md'
     - "Car Mode": 'using_car.md'
     - "Remote Control": 'remote_control.md'
     - "XBox Controller": 'xbox_controller.md'
@@ -57,8 +57,8 @@ nav:
     - "Sensors": 'sensors.md'
     - "LIDAR": 'lidar.md'
     - "Infrared Camera": "InfraredCamera.md"
-    - "ROS: AirSim ROS Wrapper": "airsim_ros_pkgs.md"     
-    - "ROS: AirSim Tutorial Packages": "airsim_tutorial_pkgs.md"     
+    - "ROS: AirSim ROS Wrapper": "airsim_ros_pkgs.md"
+    - "ROS: AirSim Tutorial Packages": "airsim_tutorial_pkgs.md"
     - "Domain Randomization": "retexturing.md"
     - "Mesh Vertex Buffers": "meshes.md"
     - "Playing Logs": 'playback.md'
@@ -93,8 +93,9 @@ nav:
     - "Autonomous Driving on Azure": 'https://aka.ms/AutonomousDrivingCookbook'
     - "Building Hexacopter": 'https://github.com/Microsoft/AirSim/wiki/hexacopter'
     - "Moving on Path Demo": 'https://github.com/Microsoft/AirSim/wiki/moveOnPath-demo'
-    - "Building Point Clouds": 'https://github.com/Microsoft/AirSim/wiki/Point-Clouds'
-    - "Surveying Using Drone": 'https://github.com/Microsoft/AirSim/wiki/Implementing-a-Drone-Survey-script'      
+    - "Building Point Clouds": 'point_clouds.md'
+    - "Surveying Using Drone": 'drone_survey.md'
+    - "Orbit Trajectory": "orbit.md"
   - "Misc":
     - "AirSim on Real Drones": 'custom_drone.md'
     - "Installing cmake on Linux": 'cmake_linux.md'
@@ -105,8 +106,8 @@ nav:
     - "Who is Using AirSim": 'who_is_using.md'
     - "Working with UE Plugin Contents": 'working_with_plugin_contents.md'
     - "Formula Student Technion Self-drive": 'https://github.com/Microsoft/AirSim/wiki/technion'
-  - "Support": 
+  - "Support":
     - "FAQ": 'faq.md'
     - "Support": 'SUPPORT.md'
     - "Create Issue": 'create_issue.md'
-    - "Contribute": 'CONTRIBUTING.md'
+    - "Contribute": 'CONTRIBUTING.md'