Picking points in Visualizer

[SteveDoingStuff]

Hi all,

I am wondering if there is a way to retrieve the coordinates of a visually picked point in the cloud (for target extraction). I tried several things via getting the mouse position in the frame and then calculating the closest depth but the mace of functions I coded keeps messing up the render (black window). I know there are ways to do this with open3d and pcl but I value cilantros efficiency and lightweight-ness. Maybe there is a direct method that I seem to overlook.

Thanks,
Steve