Blender (Python): Checking if vertex is visible from camera in script (with occlusion)

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How can I check if a vertex in a model can be seen by a camera or if it's hidden behind another object?

I aim to use that information to find the coordinates and size of a bounding box that would be drawn around an object viewed from a camera, then save that bounding box's info in a text file (which is already done and working).

I do not need nor want the vertexes to be selected, I simply want their position and if they can be seen by the camera. That way, I can check for the highest and lowest vertexes as well as the most left and most right vertexes and use these coordinates to create my bounding box.

Thanks!

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