Obtain the coordinates of a point cloud using the mouse in GLViewWidget with pyqtgraph.

[dx-momo]

I want to obtain the coordinates of a point cloud using the mouse in GLViewWidget. The point cloud is read using Open3D and displayed using pyqtgraph. opengl. However, I don't know how to obtain the 3D world coordinates, so I can only obtain the screen coordinates. The following is my point cloud reading and visualization code. I am using pyqtgraph version 0.13.3 and pyqt5 version 5.15.9. Can anyone help me? Thank you very much.
`def read_pointcloud(self):
# print("test well")
fileName, _ = QFileDialog.getOpenFileName(None, "选择 .pcd 文件", "", "PCD Files (*.pcd)")
if fileName != '':
self.pcd = o3d.io.read_point_cloud(fileName)
pos_view=self.pcd.get_center()
self.textEdit.clear()
np_points = np.asarray(self.pcd.points)

        self.textEdit.append("文件路径：" + str(fileName))
        self.textEdit.append("点云数量：" + str(int(np_points.size/3)))
        self.plot = gl.GLScatterPlotItem()
        self.plot.setData(pos=np_points, color=(0.0, 1.0, 1.0, 1.0), size=5, pxMode=True)  # 0.05表示点的大小
        self.openGLWidget.addItem(self.plot)
        self.openGLWidget.setCameraPosition(QtGui.QVector3D(pos_view[0],pos_view[1],pos_view[2]))

`

[dx-momo]

It seems that my pyqtgraph version is too high, so some of the previous functions have been deprecated, such as maptoscience, maptoview, and other methods