estimate_laser_plane.md

@@ -27,10 +27,11 @@ so the <img src="http://mathurl.com/j865cst.png" />.
 
 Now we can add this condition to pinhole camera model equation, where [**R**|t] matrix is identity matrix and <img src="http://mathurl.com/j7ltgkr.png" />, we end up with:
 
-
 <img src="http://mathurl.com/jzqcmgq.png" />
 
+Thereafter, we can make inverse transformation from ![alt text](http://mathurl.com/hw2kh9a.png) to ![alt text](http://mathurl.com/hj835tq.png) as following:
 
+<img src="http://mathurl.com/zv29thy.png" />