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Here is a good place to start: http://wiki.ros.org/depth_image_proc You can also look at stereo_image_proc.

These packages will take in your camera (in your case kinect so refer to section 2.3 depth_image_proc/point_cloud_xyz) depth data, and produce a point cloud.

Its hard to say how you could receive that point with your mouse, because it depends on what your mouse will be hovering over, and where your reference x,y (0,0) mouse point will be. Are you creating your own UI which detects the mouse location with respect to that window? You also have to worry about scaling the image that you display in your UI, to be able to calculate where your mouse is on the UI (where it is hovering over the incoming picture) vs. where that point on the ACTUAL (i.e 680x400 pixel) image is.

But in reality, you could pretty much should (someone correct me if I'm wrong please) be able to grab that respective mouse x,y point you calculated in the point cloud array.