#Methodology The RAPP Caffe Wrapper node contains the services responsible for object identification via the Caffe deep learning framework and the assistive services for translating caffe classes to ontolgoy classes and registering the object images to the ontology.

ROS Services

/rapp/rapp_caffe_wrapper/register_image_to_ontology

Image classification

This service will classify an image using the Caffe deep learning framework and if requested it will translate its caffe class to ontology class and register it to the ontology.

Service URL: /rapp/rapp_caffe_wrapper/get_ontology_class_equivalent

Service type: ```bash #the url of the image string objectFileUrl #the username of the user calling the service string username #true if the image will be registered to the ontology

bool registerToOntology

#the value of the ontology entry if the image was registered string ontologyNameOfImage #the caffe object class of the image string objectClass bool success

possible error

string error #tracen information string[] trace

```

Get ontology class equivalent

This service will return the ontology class equivalent of a caffe object class.

Service URL: /rapp/rapp_caffe_wrapper/get_ontology_class_equivalent

Service type: ```bash #the caffe object class of the iamge

string caffeClass

#true if a corresponding object exists in the ontology bool existsInOntology #the ontology equivalent class of the caffe class string ontologyClass bool success

possible error

string error #tracen information string[] trace

```

Register image to ontology

This service will register an image to the ontology along with the caffe and ontology class of the depicted object.

Service URL: /rapp/rapp_caffe_wrapper/get_ontology_class_equivalent

Service type: ```bash #the caffe object class of the iamge

string caffeClass

#true if a corresponding object exists in the ontology bool existsInOntology #the ontology equivalent class of the caffe class string ontologyClass bool success

possible error

string error #tracen information string[] trace

```

Launchers

Standard launcher

Launches the rapp_caffe_wrapper node and can be launched using ``` roslaunch rapp_caffe_wrapper rapp_caffe_wrapper_functional_tests.launch ```

HOP services

Object-Recognition-Caffe

Service-Url

``` /hop/object_recognition_caffe ```

Service request arguments

```js { file: '' } ```

• file: Path to the uploaded file (image file), stored by hop-server. This is the form-data name to attach the file to.

Service response

application/json response.

```js { object_class: '', error: '' } ```

• object_class (String): Recognized object class.
• error (String): Error message, if one occures. (String)