Capture the floor texture with ARCore

Hello!
I'm trying to capture the "floor texture" based on a ARCore detected plane and the environment (camera) texture. Then reapply this floor texture in a plane mesh, creating a digital floor based on reality.
I've uploaded an image to illustrate this.

This is not a ARCore specific question, I think it can be resolved with math and graphics programming, maybe something like unprojecting the plane based on the camera matrix, but I do not know exactly how to do that.

Can someone help me?
Thanks!