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This is one of the PCD files that you can reproduce the bug with: PCD file.
The problem simply is that you can keep clicking on the orientation arrows but they won't get selected. If I disable RGB mode while the orientation arrows are showing I get the same problem. I can bypass this problem by selecting camera orientation before turning on RGB mode
Selecting the arrows when choosing the Camera orientation does not work when in RGB mode. All other features work fine when in RGB mode.
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