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Ground truth object mask generation a camera

Hi,

I am looking at creating a ground truth mask for a camera simulated in gazebo is there a plugin or existing method for this?

Like this:

thanks,
Guy

Yeah!!
I am also hoping to get this result but do not know the API of it
I kown that pybullet have this function,however,most of our project is base on Gazebo,So …I have the Same Problem