Outline highlighter

I am trying achieve a way to highlight object once it is clicked. The highlight should appear around the mesh which is selected. I want it to appear the way it does in the image attached. Can anyone please suggest a way to get the following result? Thanks!

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If you need outline only for a small number of objects in the scene you can try the approach from: Highlighting elements and bring the additional outline objects from the 3D modelling tool.

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