public class OpenGLRenderer extends Activity implements GLSurfaceView.Renderer {
    public PointCloud ptCloud;
    MatrixGrabber mg = new MatrixGrabber();
...
    public void onDrawFrame(GL10 gl) {

        gl.glDisable(GL10.GL_COLOR_MATERIAL);
        gl.glDisable(GL10.GL_BLEND);
        gl.glDisable(GL10.GL_LIGHTING);

        //Background drawing
        if(customBackground)
            gl.glClearColor(backgroundRed, backgroundGreen, backgroundBlue, 1.0f);
        else
            gl.glClearColor(0.0f, 0.0f, 0.0f, 1.0f);

        if (PointCloud.doneParsing == true) {
            if (envDone == false)
                setupEnvironment();

            // Clears the screen and depth buffer.
            gl.glClear(GL10.GL_COLOR_BUFFER_BIT | GL10.GL_DEPTH_BUFFER_BIT);

            gl.glMatrixMode(GL10.GL_PROJECTION);
            gl.glLoadIdentity();
            GLU.gluPerspective(gl, 55.0f, (float) screenWidth / (float) screenHeight, 10.0f ,10000.0f);

            gl.glMatrixMode(GL10.GL_MODELVIEW);

            gl.glLoadIdentity();
            GLU.gluLookAt(gl, eyeX, eyeY, eyeZ,
                              centerX, centerY, centerZ,
                              upX, upY, upZ);

            if(pickPointTrigger)
                pickPoint(gl);


            gl.glPushMatrix();

            gl.glTranslatef(_xTranslate, _yTranslate, _zTranslate);
            gl.glTranslatef(centerX, centerY, centerZ);
            gl.glRotatef(_xAngle, 1f, 0f, 0f);
            gl.glRotatef(_yAngle, 0f, 1f, 0f);
            gl.glRotatef(_zAngle, 0f, 0f, 1f);
            gl.glTranslatef(-centerX, -centerY, -centerZ);

            ptCloud.draw(gl);

            gl.glPopMatrix();
        }
    }
}

public void pickPoint(GL10 gl){

        mg.getCurrentState(gl);

        double mvmatrix[] = new double[16];
        double projmatrix[] = new double[16];
        int viewport[] = {0,0,screenWidth, screenHeight};

        for(int i=0 ; i<16; i++){
            mvmatrix[i] = mg.mModelView[i];
            projmatrix[i] = mg.mProjection[i];
        }

        mg.getCurrentState(gl);

        float realY = ((float) (screenHeight) - pickY);
        float nearCoords[] = { 0.0f, 0.0f, 0.0f, 0.0f };
        float farCoords[] = { 0.0f, 0.0f, 0.0f, 0.0f };


        GLU.gluUnProject(screenWidth/2, screenHeight/2, 0.0f, mg.mModelView, 0, mg.mProjection, 0,
                    viewport, 0, nearCoords, 0);
        GLU.gluUnProject(screenWidth/2, screenHeight/2, 1.0f, mg.mModelView, 0, mg.mProjection, 0,
                    viewport, 0, farCoords, 0);

        System.out.println("Near: " + nearCoords[0] + "," + nearCoords[1] + "," + nearCoords[2]);
        System.out.println("Far:  " + farCoords[0] + "," + farCoords[1] + "," + farCoords[2]);



      //Plot the points in the scene
        nearMarker.set(nearCoords);
        farMarker.set(farCoords);
        markerOn = true;

        double diffX = nearCoords[0] - farCoords[0];
        double diffY = nearCoords[1] - farCoords[1];
        double diffZ = nearCoords[2] - farCoords[2];

        double rayLength = Math.sqrt(Math.pow(diffX, 2) + Math.pow(diffY, 2) + Math.pow(diffZ, 2));
        System.out.println("rayLength: " + rayLength);

        pickPointTrigger = false;
    }

GLU.gluPerspective(gl, 55.0f, (float) screenWidth / (float) screenHeight, 1.0f ,100.0f);
.....
07-18 11:23:50.430: INFO/System.out(31795): Near: 57.574852,-88.60514,37.272636
07-18 11:23:50.430: INFO/System.out(31795): Far:  0.57574844,0.098602295,0.2700405
07-18 11:23:50.430: INFO/System.out(31795): rayLength: 111.74275719790872

GLU.gluPerspective(gl, 55.0f, (float) width / (float) height, 10.0f , 1000.0f);
...
07-18 11:25:12.420: INFO/System.out(31847): Near: 5.7575016,-7.965394,3.6339219
07-18 11:25:12.420: INFO/System.out(31847): Far:  0.057574987,0.90500546,-0.06634784
07-18 11:25:12.420: INFO/System.out(31847): rayLength: 11.174307289026638

public float[] unproject(float rx, float ry, float rz) {//TODO Factor in projection matrix
    float[] modelInv = new float[16];
    if (!android.opengl.Matrix.invertM(modelInv, 0, mg.mModelView, 0))
        throw new IllegalArgumentException("ModelView is not invertible.");
    float[] projInv = new float[16];
    if (!android.opengl.Matrix.invertM(projInv, 0, mg.mProjection, 0))
        throw new IllegalArgumentException("Projection is not invertible.");
    float[] combo = new float[16];
    android.opengl.Matrix.multiplyMM(combo, 0, modelInv, 0, projInv, 0);
    float[] result = new float[4];
    float vx = viewport[0];
    float vy = viewport[1];
    float vw = viewport[2];
    float vh = viewport[3];
    float[] rhsVec = {((2*(rx-vx))/vw)-1,((2*(ry-vy))/vh)-1,2*rz-1,1};
    android.opengl.Matrix.multiplyMV(result, 0, combo, 0, rhsVec, 0);
    float d = 1 / result[3];
    float[] endResult = {result[0] * d, result[1] * d, result[2] * d};
    return endResult;
}

public float distanceToDepth(float distance) {
    return ((1/fNear) - (1/distance))/((1/fNear) - (1/fFar));
}

float[] xyz = {0, 0, 0};
xyz = unproject(mouseX, viewport[3] - mouseY, 1);

unproject(mouseX, viewport[3] - mouseY, distanceToDepth(5));

float[] xyzw = {0, 0, 0, 0};
android.opengl.GLU.gluUnProject(rx, ry, rz, mg.mModelView, 0, mg.mProjection, 0, this.viewport, 0, xyzw, 0);
xyzw[0] /= xyzw[3];
xyzw[1] /= xyzw[3];
xyzw[2] /= xyzw[3];
//xyzw[3] /= xyzw[3];
xyzw[3] = 1;
return xyzw;