RVIZ Publish Point on WEB

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• I use roslibjs, ros3djs, threejsand all required libraries which uses here: https://github.com/osrf/rvizweb.
• Big thanks for all authors.
• The question which I want to ask is about Publish Point feature on RViz.
• In RVIZ, I can click on a point cloud then get a coordinate of the point which I choosed.
• I use Point Stamped, Publish Point tool, and listen to the topics to get the points.

In simple, is there any feature which allow me to do the same thing via web-client ? -- Get point-cloud point's coordinate on web ui

Any information will be helpful, since I even don't really know that it can be done or not. Thanks!