How do I colour a mesh in Kiss3d? (code example request)

This is a question about the sebcrozet/kiss3d graphics engine. I have managed to create a mesh using group.add_mesh(). Now I want to colour my mesh with a specified colour for each vertex (or face). Does anyone know how I do this?

One possible approach seems to be to define a RgbImage with all my different colours somewhere in the image, turn that into a DynamicImage, turn that into a Texture, somehow associate the texture with the mesh, set up a UV map, and set the UV location for each vertex to map to the relevant colour.

The documentation does not go into enough detail or give a specific example. Does anyone have any example code that works?