---
title: "Capture Semantic Segmentation"
method: GET
path: "/periphery/cameras/capture/semantic-segmentation"
tags: ["Periphery (Camera)"]
---

# Capture Semantic Segmentation

`GET /periphery/cameras/capture/semantic-segmentation`

Retrieves semantic segmentation data for specified object classes, with each detected entity uniquely labeled.
If no class is specified, data for all labeled objects in the scene is returned.

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[] — The class of the object for which the data is to be fetched. If no labels are set in the scene, all bounding boxes could be returned.
- `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 semantic segmentation data

- SemanticSegmentationData
  - `data` array[], required — Pixel-to-label array
    - integer[]
  - `info` SemanticSegmentationInfo, required
    - `id_to_labels` object, required — Mapping of semantic IDs to their class labels and attributes

## Other responses

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

## Changes

- **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

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