Generating height map of group of objects

I need to get a height map of many objects covering each other. It's exactly like the Z-buffer. I need this to simulate a laser scanner output.
My scene looks like this:
I have seen some tutorials and understood I need to set texture to blend based on Z coordinate. But I have not found a way, how to set the texture to all objects at once. I tried to use a group, but then I did not find any mapping by Z coordinate settings.
Could you please advice me? Is it even possible to get height map of bunch of objects? Is it possible to set texture to objects by python script? Some other ideas?

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