Hello aRk, I think I can help you. I have done a lot of “AR” transformations in OpenCV, but I need more explanation from you.
Where is your checkerboard placed and what is your desired output image? Can you create an exmplanation of input image and desired output?
Maybe cv::projectPoints() could help you to project 3D points of checkerboard into camera image. Then using cv::getPerspectiveTransform() and cv::warpPerspective() you can get your desired output I guess.