---
title: "Capture Pointcloud"
method: GET
path: "/periphery/cameras/capture/pointcloud"
tags: ["Periphery (Camera)"]
---

# Capture Pointcloud

`GET /periphery/cameras/capture/pointcloud`

Retrieves a point cloud from the camera's captured image.

- Resulting data format depends on stage units (e.g., mm, cm, m).
- `downscale_factor` determines compression level: 1.0 = full data, <1.0 = compressed.
- Points and normals that came out non-finite are returned as zero vectors,
  since JSON cannot represent them.

## Query parameters

- `downscale_factor` number — Downscale factor for the point cloud. 1.0 = no compression, 0.1 = heavy compression
- `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 point cloud data

- PointCloud
  - `points` array[], required — List of 3D points in world coordinates
    - number[]
  - `colors` array[], required — List of RGB colors for each point
    - number[]
  - `normals` array[], required — List of surface normals for each point
    - number[]

## Other responses

- `404` — Camera not configured
- `422` — No semantically labeled objects in the camera view
- `500` — Could not fetch point cloud data

## Changes

- **2026-09-24** `f4e4cbd85f5b` — 3 info
  - 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
- **2026-09-08** `bed4f7092b75` — 1 breaking
  - removed the media type `application/json` for the response with the status `422`

[Change history](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/changes/periphery/cameras/capture/pointcloud/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)