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Blender has a great function to convert world coordinates to camera coordinates. However, in my case I am trying to do the exact opposite and can't find an existing method of doing so. I have tried reversing the math on this but haven't had any success. I have attached the function here from bpy_extras/object_utils.py

def world_to_camera_view(scene, obj, coord):
"""
Returns the camera space coords for a 3d point.
(also known as: normalized device coordinates - NDC).

Where (0, 0) is the bottom left and (1, 1)
is the top right of the camera frame.
values outside 0-1 are also supported.
A negative 'z' value means the point is behind the camera.

Takes shift-x/y, lens angle and sensor size into account
as well as perspective/ortho projections.

:arg scene: Scene to use for frame size.
:type scene: :class:`bpy.types.Scene`
:arg obj: Camera object.
:type obj: :class:`bpy.types.Object`
:arg coord: World space location.
:type coord: :class:`mathutils.Vector`
:return: a vector where X and Y map to the view plane and
   Z is the depth on the view axis.
:rtype: :class:`mathutils.Vector`
"""
from mathutils import Vector

co_local = obj.matrix_world.normalized().inverted() @ coord
z = -co_local.z

camera = obj.data
frame = [-v for v in camera.view_frame(scene=scene)[:3]]
if camera.type != 'ORTHO':
    if z == 0.0:
        return Vector((0.5, 0.5, 0.0))
    else:
        frame = [(v / (v.z / z)) for v in frame]

min_x, max_x = frame[1].x, frame[2].x
min_y, max_y = frame[0].y, frame[1].y

x = (co_local.x - min_x) / (max_x - min_x)
y = (co_local.y - min_y) / (max_y - min_y)

return Vector((x, y, z))
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