estimate_laser_plane.md

@@ -4,6 +4,12 @@ We will use pinhole camera model for finding 3D points ![alt text](http://mathur
 
 <img src="http://mathurl.com/hbtk24o.png" /> ,
 
-where **K** is the camera metrix from [here](find_camera_mtx)
+where **K** is the camera matrix from [there](find_camera_mtx), [**R**|t] is transformation matrix and s is integer number parameter.
 
-We must find some points in space with 
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+![pinhole_camera_model](http://gitlab.ciirc.cvut.cz/cmirajak/laser_plane_scanner/uploads/17854790f79da224f708e89ded8d3453/pinhole_camera_model.png)
+
+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
+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).
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