Finding perspective transformation between two planes

Finding perspective transformation between two planes

I have a point cloud created from multiple images. I extracted a plane
from it, it is also in 3d co-ordinate system, this implies I have the
plane equation of that plane. But in none of the original images the plane
has ortho-normal view, that is the plane is not parallel to the viewing
plane. But, as I have the plane's 3d cloud, I want to project it in XY
plane, that is I want to make the plane parallel to the viewing plane and
create an image from it. What is the algorithm or function to do it in
C++/OpenCV?