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

# Capture Instance Segmentation

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

Retrieves instance segmentation data for specified object classes, with each detected object uniquely identified.
Use the `set_semantic_label` endpoint to assign labels to scene entities.

## Query parameters

- `result_type` 'json' | 'rgb_png', required — Format which will be used to represent the captured data
- `object_class` string[] — Classes of objects to include in segmentation. If not specified, returns all labeled instances.
- `camera_prim_path` string, required — Path of camera prim
- `width` integer — Image width in px
- `height` integer — Image height in px

## Response `200`

Successfully fetched instance segmentation data

- InstanceSegmentationData
  - `data` array[], required — Pixel-to-label array
    - integer[]
  - `info` InstanceSegmentationInfo, required
    - `id_to_labels` object, required — Mapping of instance IDs to their class labels

## Other responses

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

---

[API](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/wandelbotsgmbh/wandelbots-nova-isaac-sim-extension-api/versions/a0efd7dad77c/schema)