recovery plane from 4 point imaging using calibration camera
I found the answer in the paper: Calibrating an Overhead Video Camera by Raul Rojas in section 3 - 3.3.

for the start:
 H=K^-1*H 

1)  Given four points in the image and their known coordinates in the world, the matrix H can be recovered, up to a scaling factor . We know that the first two columns of the rotation matrix R must be the first two columns of the transformation matrix. Let us denote by h1, h2, and h3 the three columns of the matrix H.

2)  Due to the scaling factor we then have that xr1 = h1 and xr2 = h2
Since
|r1| = 1,
then

x = |h1|/|r1| = |h1| and 

x = |h2|/|r2| = |h2|.

3) We can thus compute the factor and eliminate it from the recovered matrix H. We just set 

H'= H/x 

4) In this way we recover the first two columns of the rotation matrix R. The third column of R can be found remembering that any column in a rotation matrix is the cross product of the other two columns (times the appropriate plus or minus sign). In particular 

r3 = r1 × r2 

5) Therefore, we can recover from H the rotation matrix R. We can also recover the translation vector (the position of the camera in field coordinates). Just remember that 

h'3 = −R^t 

6) Therefore the position vector of the camera pin-hole t is given by 

t = −R^-1 h3