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Last active Jun 22, 2016
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def project_to_ground(pos, camera, height=0.0):
matWorldInverse = np.array(camera['matrixWorldInverse']).reshape(4, 4).T
matWorld = np.linalg.inv(matWorldInverse)
proj = np.array(camera['projectionMatrix']).reshape(4, 4).T
origin = matWorld[:,3][:-1]
deproj =, np.linalg.inv(proj))
direction =, (pos[0], pos[1], 0.5, 1.0))
direction = direction[:-1]/direction[-1]
direction -= origin
direction /= np.linalg.norm(direction)
landing = direction*((height - origin[1])/direction[1]) + origin
return landing
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