Is there any way to get a labeling of the scene as seen from a depth camera - a mapping between each pixel of the image and the corresponding object that generated the depth for that pixel as seen from the camera's viewpoint? So, for a scene with a single table in the middle, all the pixels corresponding to the table have to be labelled as "table". I've tried using the function:
GetVisualAt(CameraPtr camera, const math::Vector2i &mousePos)
from gazebo::rendering::Scene which casts a ray into the scene to find the intersecting object for a pixel but this is too slow for my use case (assuming a 640 x 480 image, this takes of the order of hundreds of seconds). I think that OGRE would compute this when it renders depth maps, but I'm not too sure how or where to look to get access to this. Any suggestions?
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