Labeled Point Cloud using libgazebo_ros_openni_kinect pluign

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Hello everyone

I explain my setup: I've a kinect sensor that look a scene and retrieve a point cloud from that. In the scene there are many different kind of models.

I was wondering if it is possible to obtain a labeled point cloud from a kinect depth camera sensor in gazebo, for instance with the RGB channel of the pointcloud annotated with a number that is different according to the detected model

I think that I need a custom plugin but I don't know how i can retrieve the object class from a point cloud. Could you please suggest me a way to do it?