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I have taken two image from two different camera and lens from 3 fixed point which makes a 90 degree angle on a plane. the position of camera when taking photo is also changed but the 3 fixed points are in both images.

How can I find a relation to map points in these two images? I just want to map the points on the plane which 3 fixed points are.

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    The question is hard to understand as formulated. Is this a correct summary? You took two images from two different camera positions. There are three fixed points that appear in both images, and they form a right triangle. You can identify these three points in both images, and thus can obtain their 2D coordinates in each of the images, and now you're looking for a map between the 2D coordinates in the two images such that image points mapped to each other are images of the same 3D point?2011-04-05
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    @joriki: approximately yes, 3 points are making a 90 degree angle in real world, and I just want to find the correspondence in a plane which these 3 points are, for example just roof of a building which is photographed and 3 fixed point are on the roof.2011-04-05

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See Epipolar geometry and the Correspondence problem.