Not sure if this counts:
I have also run a rope from the top of the cab of my old Toyota pickup to a tree and draped a tarp over the top, and connected them under the truck with 550 cord. I had a piece of 4" foam that fit the truck bed. Was plenty cozy for 2 people who liked each other.....
That was my standard camping rig for years, when I lived in an apartment and didn't have room to store proper camping gear, even if I could have afforded it.
Didn't take photos of that one though, but it isn't hard to picture.