estimate_laser_plane.md

@@ -11,7 +11,7 @@ where **K** is the camera matrix from [there](find_camera_mtx), [**R**|t] is tra
 Picture is borrowed from [there](http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html)
 
 
-### Finding points on laser plane
+### Inverse transformation of pinhole camera equation
 The equation for pinhole camera is under-determined so we have to find one more condition to estimate the position ![alt text](http://mathurl.com/hj835tq.png) using only projection coordinates ![alt text](http://mathurl.com/hw2kh9a.png). We can use chessboard plane, because OpenCV can find the transformation between those coordinates and camera coordinates. Furthermore, we can say that in chessboard coordinates all points are laying on plane described as z = 0. We are able to transform this plane to camera coordinates like:
 
 <img src="http://mathurl.com/gw8dwdp.png" /> ,
@@ -33,9 +33,10 @@ Thereafter, we can make inverse transformation from ![alt text](http://mathurl.c
 
 <img src="http://mathurl.com/zv29thy.png" />
 
+### Tracking laser points on image
 
 
 
 
-
-
+![cal_down](http://gitlab.ciirc.cvut.cz/cmirajak/laser_plane_scanner/uploads/7841763e62cef8cf4847b530d4ad1ca9/cal_down.png)
+![cal_up](http://gitlab.ciirc.cvut.cz/cmirajak/laser_plane_scanner/uploads/f8e41d456454a719cda6aed062b392cb/cal_up.png)