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Convert pixel position to world direction?

I have calibrated my camera with a checkerboard and achieved the distortion parameters and Intrinsic matrix of my camera.

Using these I have estimated the camera position and orientation using solvePnP against a known known set of reference points.

Now I want to find the world direction, from the camera toward a blob I am detecting inside my image. So I want to convert a pixel position to a 3D vector in that direction.

I want the direction so I can determine where in the world a ball is located. I have two cameras. If both of them can see the blob I will find the point nearest both lines and if only one can observe the ball I will just use the directions crossing with a the ground plane.

I am using blob detection in HSV colorspace to find the ball.

Any ideas on how to continue?

Kind regards