Segmented occupancy map

I have read the example for creating occupancy maps. Still, I wonder if it is possible to create a segmented occupancy map where fr each occupied pixel is also specified what occupies it.

https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.occupancy_map/docs/index.html#omni.isaac.occupancy_map._occupancy_map.Generator.generate3d