Is there a way to get the three dimensional coordinate from a click LiDAR scan (pcd file)?

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I want to get the coordinates of a click from the user relative to the axes of the pcshow function. For example, if I have a scan of a room, I wanted to be able to capture a click on the wall of the room and get the coordinates.

I have tried using the method of doing this according to Getting clicked point coordinates in 3D figure Matlab but it doesnt seem to work on pcshow.

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