---
title: "Capture Depth Image"
method: GET
path: "/periphery/cameras/capture/depth"
tags: ["Periphery (Camera)"]
---

# Capture Depth Image

`GET /periphery/cameras/capture/depth`

Retrieves depth (distance) data from the captured image.

- In the json format, returns the per-pixel Euclidean range in the
  requested `unit` (pixels without geometry are returned as 0.0), the unit
  it is expressed in, and the camera intrinsics in pixels for the requested
  resolution, so callers can convert the range to planar depth themselves.
- In the rgb_png format, returns a colorized visualization instead; a PNG
  carries neither intrinsics nor a unit.

## 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.
- `near` number, nullable — Near end of the PNG colour ramp, in stage units. Leave it out to fit the ramp to the frame.
- `far` number, nullable — Far end of the PNG colour ramp, in stage units. Leave it out to fit the ramp to the frame.
- `unit` 'mm' | 'm' — Length unit for the returned depth values.
- `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 depth data

- DepthCaptureResult
  - `depth` array[], required — Per-pixel Euclidean range (distance from the camera to the surface along the viewing ray), in the unit named by `unit`. Pixels without geometry (infinite range) are returned as 0.0.
    - number[]
  - `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[]
  - `unit` 'mm' | 'm' — Length unit the depth values are expressed in.

## Other responses

- `404` — Camera not configured
- `422` — Validation Error
- `500` — Could not fetch depth data

## Changes

- **2026-09-24** `f4e4cbd85f5b` — 3 breaking, 13 info
  - for the `query` request parameter `far`, default value `100` was removed
  - for the `query` request parameter `near`, default value `0.00001` was removed
  - the response's body type changed from `array` to `object` for status `200`
  - added the new optional `query` request parameter `unit`
  - …12 more

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