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Help! Have I dreamed that?

Hi all,

Less than three months ago, I came to know that there was a simulator feature that was really what I needed. A sensor plugin to simulate a "virtual camera" that tells you which object is currently seen. I absolutely can't remember where I read this stuff and in the list of available plugins ( there's no such thing.

Can you please tell me if there's such a functionality in gazebo and how to find it?