How do I transform an image to remove rotation using the camera calibration data?

I have calibrated a camera using the single camera calibration app, producing me a cameraParams object with its parameters. The camera is imaging a plate that is not parallel to the image plane of the camera. I would like to be able to rotate and transform images take from the camera so they can be viewed as if the camera was looking straight at the plate. I believe this is possible using the translation and rotation vectors from the cameraParams. Can anyone help me out on how I might accomplish this?