Paralympian Oscar Pistorius knew he was firing at his girlfriend Reeva Steenkamp the night she was killed in his house, the Pretoria Magistrate's Court heard on Wednesday.

"I believe he knew she was in the bathroom and he shot four shots in the bathroom and killed her," investigating officer Hilton Botha testified.

He was responding to questions from prosecutor Gerrie Nel, who is opposing an application for bail by Pistorius.

In an affidavit on Tuesday, Pistorius told the court he thought he was firing shots at an intruder in the bathroom.

Steenkamp was shot dead early on February 14 at Pistorius' home in Pretoria.

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