estimate_laser_plane.md

@@ -47,7 +47,10 @@ To refine it, we know that the laser light should have normal distribution aroun
 
 As you can see on pictures bellow, not all laser points are laying on chessboard so we select the only the one that does and transform them from image points to the camera coordinates.
 
-We obtain these points for two different positions of chessboard and get a set of points, which are laying on the laser plane. Thereafter, we fit plane in-between points using singular value decomposition (svd) and receive the laser plane.
+We obtain these points for two different positions of chessboard and get a set of points, which are laying on the laser plane. Thereafter, we fit plane in-between points using singular value decomposition (svd) and receive the laser plane equation as:
+
+<img src="http://mathurl.com/zw2vhdq.png" />
+
 
 ![cal_down](http://gitlab.ciirc.cvut.cz/cmirajak/laser_plane_scanner/uploads/7841763e62cef8cf4847b530d4ad1ca9/cal_down.png)