---
title: "Capture Boundingbox 2D"
method: GET
path: "/periphery/cameras/capture/bounding-box-2d"
tags: ["Periphery (Camera)"]
---

# Capture Boundingbox 2D

`GET /periphery/cameras/capture/bounding-box-2d`

## Request

- The document declares no server URL.
- Auth: none declared
- TypeScript: <https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/docs/periphery/cameras/capture/bounding-box-2d/get.ts> (a function with typed inputs; its response is checked against the schema)

Retrieves 2D bounding box data for specified object classes from the scene.
Use the `set_semantic_label` endpoint to assign labels to scene entities.

## Query parameters

- `result_type` 'json' | 'rgb_png' | 'jpeg', required: Format which will be used to represent the captured data. 'json' carries the measurements; 'rgb_png' and 'jpeg' are renderings to look at, and jpeg is lossy.
- `object_class` string[]: Classes of objects to include in the 2D bounding box output. If not specified, returns all labeled instances.
- `camera_prim_path` string, nullable: Path of camera prim. Leave it out to capture through the active viewport camera.
- `width` integer: Image width in px
- `height` integer: Image height in px

## Response `200`

Successfully fetched 2D bounding box data

- BoundingBox2DCaptureResult: Pixel-space boxes and the matrix they were measured with.
  - `bounding_boxes` BoundingBox2D[], required: One entry per labelled object in view.
    - `label` string, required: Class label for the detected object
    - `bbox` number[], required: Bounding box coordinates [x_min, y_min, x_max, y_max]
    - `prim_path` string, required: Path to the USD prim of the detected object
    - `semantic_id` integer, required: Semantic ID of the detected object
  - `camera_intrinsics` array[], required: 3x3 camera intrinsics (K) matrix [[fx, 0, cx], [0, fy, cy], [0, 0, 1]] in pixels, computed for the requested capture resolution.
    - number[]

## Other responses

- `404`: Camera not configured
- `422`: Validation Error
- `500`: Could not fetch 2D bounding box data

## Changes

> 15 revisions in range; 1 not diffed.

- **2026-09-24** `f4e4cbd85f5b`: 5 info
  - the `query` request parameter `camera_prim_path` became optional
  - added the new enum value `jpeg` to the `query` request parameter `result_type`
  - `query` request parameter `camera_prim_path` list-of-types was widened by adding types `null`
  - for the `query` request parameter `camera_prim_path`, the type was generalized from `string` to no type
  - …1 more

[Operation history](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/changes/periphery/cameras/capture/bounding-box-2d/get.md)

---

[API](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) - [All operations](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) - [OpenAPI document](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/revisions/9f8bd1420bcf?raw)