How to project IR image on a 2D plane using OpenCV and PCL

I have a Kinect and I'm using OpenCV and point cloud library. I would like to project the IR Image onto a 2D plane for forklift pallet detection. How would I do that? I'm trying to detect the pallet in the forklift here is an image: of the IR with forklift. I have also information about the point cloud, which might be helpful.