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Detect stacked objects with PCL2

Hi, I'm using the surface_perception library which segments surface objects using PCL2 data. However, since it only uses data from the pointcloud, it's not able to distinguish two objects that are stacked on top of each other because it sees it as one object. I was wondering if anyone had an idea how I could possibly implement this in an easy way? I know the PCL2 data also has rgb information.

Any help would be appreciated!