Specific subcategories in post header

Hi everyone,
let’s have categories’ hierarchy:

• Plant

• Fruit
• Vegetable

• Color

• Red
• Blue
• Orange
• Pink

(Fruit, Vegetable are subcats of Plant, color names are subcats of Color)

…and a post named “Grapefruit”, wich belongs to categories: Plant, Fruit, Color, Red, Pink

What I want is to add post info under header title in format:
Plant type: Fruit
Colors: Red, Pink (where the categories are links)

Technically I need to extract form single post its subcategories’ links grouped by main category.

Could someone be so kind and provide me with guidelines how to do it? Or maybe someone has appropriate php code or know something about plugin, which can do that?