Check if object is occluded by other object

Hi all,
I have a scene with multiple objects in it and I’m trying to detect which objects are occluded by other ones using python script. I saw some implementations to check whether an object is in the FOV of the camera. In my situation an object can be in the FOV of the camera but occluded by another object.

There might be multiple occlusions in one scene

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so far as I know there is no built-in functionality to do occlusion testing, you just have to roll your own with scene.raycast.