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Transform camera coordinates in planar world coordinates

Dear openCV community, I have a little question for you. I just tried the Calibration tutorial that I found here on opencv tutorials section.

Now I have the undistorted image, but how can I pass from (x,y) coordinate of a image's pixel to (x,y) of he world?

I have to switch from a 2D coordinate system (image) to another 2D coordinate system that has a different origin.

In systems that I have seen so far are used 4 image points which are associated to each of the coordinates of the world.

There is a function of OpenCV that does this? is a function or it is just a mathematical proportion? I ask this because there is to keep in mind the prospsettiva and do not know how to handle it.

I found only the functions that manage the transformation from 2D to 3D with two cameras, but I have only one camera available.

Do you have suggestions?