---
title: "Capture Boundingbox 3D"
method: GET
path: "/periphery/cameras/capture/bounding-box-3d"
tags: ["Periphery (Camera)"]
---

# Capture Boundingbox 3D

`GET /periphery/cameras/capture/bounding-box-3d`

Retrieves 3D bounding box data for specified object classes from the scene.
Use the `set_semantic_label` endpoint to assign labels to scene entities.

- The json format carries the box extents and the transform that places
  them; the image formats draw the wireframes onto the captured frame.

## Query parameters

- `object_class` string[] — Classes of objects to include in the 3D bounding box output. If not specified, returns all labeled instances.
- `result_type` 'json' | 'rgb_png' | 'jpeg' — Format which will be used to represent the captured data. 'json' carries the measurements; 'rgb_png' and 'jpeg' draw them onto the captured frame.
- `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 3D bounding box data

- BoundingBox3D[]
  - `label` string, required — Class label for the detected object
  - `bbox` number[], required — Bounding box coordinates [x_min, y_min, z_min, x_max, y_max, z_max]
  - `prim_path` string, required — Path to the USD prim of the detected object
  - `semantic_id` integer, required — Semantic ID of the detected object
  - `transform` array[], required — 4x4 transformation matrix. Translation always uses mm
    - number[]

## Other responses

- `404` — Camera not configured
- `422` — Validation Error
- `500` — Could not fetch 3D bounding box data

## Changes

- **2026-09-24** `f4e4cbd85f5b` — 6 info
  - added the new optional `query` request parameter `result_type`
  - the `query` request parameter `camera_prim_path` became optional
  - `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
  - …2 more

[Change history](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/changes/periphery/cameras/capture/bounding-box-3d/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/f4e4cbd85f5b?raw)