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    tp=[]
    qp=[]
    for m in goodMatch:
        tp.append(trainKP[m.trainIdx].pt)
        qp.append(queryKP[m.queryIdx].pt)
    tp,qp=np.float32((tp,qp))
    H,mask=cv2.findHomography(tp,qp,cv2.RANSAC,3.0)

I think this will work, source