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How can I tranform my video image on a plan where I can find any coordinate for any pixel? Is there any function in OpenCV 3.0 for it using Python 2.7?

I'm using OpenCV 3.0 to detect car's corners from video image to track it later. But to tracking this I need to know the coordinates of the corners detected in a reference plan. This is what we called Homography. I've already researched this in the tutorial, but there is nothing in the sense that I need. Can anyone help me with this?