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Is anyone aware of a Gazebo simulated depth camera that identifies the object each depth pixel belongs to?

A simulated depth camera in GAZEBO senses objects in the simulated scene. It should therefore be possible to to only return the depth image from a simulated depth camera, but also the segmented image based on objects that are visible. Alternatively, is there a simulated camera available that returns a segmented image by objects in the scene. In other word, what is required is an image rendered by object id.