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Have you researched findHomography() and perspectiveTranform()? http://docs.opencv.org/doc/tutorials/features2d/feature_homography/feature_homography.html

From one plane to another requires one pose; http://dsp.stackexchange.com/questions/1484/how-to-compute-camera-pose-from-homography-matrix

to a 3D plane requires at least two poses. http://stackoverflow.com/questions/7836134/get-3d-coord-from-2d-image-pixel-if-we-know-extrinsic-and-intrinsic-parameters/10750648#10750648

Have you researched findHomography() and perspectiveTranform()? perspectiveTransform()? http://docs.opencv.org/doc/tutorials/features2d/feature_homography/feature_homography.html

From one plane to another requires one pose; http://dsp.stackexchange.com/questions/1484/how-to-compute-camera-pose-from-homography-matrix

to a 3D plane requires at least two poses. http://stackoverflow.com/questions/7836134/get-3d-coord-from-2d-image-pixel-if-we-know-extrinsic-and-intrinsic-parameters/10750648#10750648

Have I'm not completely sure I understand your precise problem, but have you researched findHomography() and perspectiveTransform()? http://docs.opencv.org/doc/tutorials/features2d/feature_homography/feature_homography.html

From one plane to another requires one pose; http://dsp.stackexchange.com/questions/1484/how-to-compute-camera-pose-from-homography-matrix

to a 3D plane requires at least two poses. http://stackoverflow.com/questions/7836134/get-3d-coord-from-2d-image-pixel-if-we-know-extrinsic-and-intrinsic-parameters/10750648#10750648