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One main issue is that the depth-stencils only support uint8, i.e. 256 slots. At least this was the case last time I checked.
Depending on your task this might be enough? But probably isn't.
If you can pre-allocate your scene and camera path then it might be worth looking into the unreal "render-queue". I think there are multiple tools that do instance level annotations.
Generally, you want to find a way that allows you to get per-pixel object id's. And there certainly should be a way - how else do the depth-stencils work in the fist place? But I never found how to do that. It is probably hidden somewhere in the rendering pipeline..
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