How can I tell if an object is obscured by another object in the camera view?

### Describe the issue

Hi, I need to make a coco data:

**if the object is occlusioned, don't render its mask.**

**But I can't tell if it's obscured by other objects in the camera's view.**

How can I tell if an object is obscured by another object in the camera view?

Look forward to your reply very much, thank you.

### Minimal code example

_No response_

### Files required to run the code

_No response_

### Expected behavior

How to tell if the object is occlusioned from the camera Angle?

### BlenderProc version

3.3.1

The issue names BlenderProc 3.3.1 but provides no files, tests, or runnable example. Start by locating the camera-view rendering and mask-generation entry points, then determine how camera-angle occlusion should be detected; done means occluded objects are identified and their masks are not rendered.

Written by the indexing model from the issue text.