fixed some stuff

pom.xml

@@ -8,7 +8,7 @@
 
   <groupId>de.monticore.lang.monticar</groupId>
   <artifactId>embedded-montiarc-math-generator</artifactId>
-  <version>0.0.4</version>
+  <version>0.0.5</version>
 
   <!-- == PROJECT DEPENDENCIES ============================================= -->
 
@@ -20,10 +20,10 @@
     <mc.grammars.assembly.version>0.0.6-SNAPSHOT</mc.grammars.assembly.version>
 	<SIUnit.version>0.0.7</SIUnit.version>
 	<Common-MontiCar.version>0.0.7</Common-MontiCar.version>
-	<Embedded-MontiArc.version>0.0.7</Embedded-MontiArc.version>
-	<Embedded-MontiArc-Behaviour.version>0.0.7</Embedded-MontiArc-Behaviour.version>
+	<Embedded-MontiArc.version>0.0.8</Embedded-MontiArc.version>
+	<Embedded-MontiArc-Behaviour.version>0.0.8</Embedded-MontiArc-Behaviour.version>
     <Math.version>0.0.7.1</Math.version>
-	<Embedded-MontiArc-Math.version>0.0.7</Embedded-MontiArc-Math.version>
+	<Embedded-MontiArc-Math.version>0.0.8</Embedded-MontiArc-Math.version>
     <tagging.version>0.0.1</tagging.version>
     <!-- .. Libraries .................................................. -->
     <guava.version>18.0</guava.version>

src/main/java/de/monticore/lang/monticar/generator/cpp/GeneratorCPP.java

@@ -12,10 +12,8 @@ import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import de.monticore.symboltable.Scope;
 import de.se_rwth.commons.logging.Log;
 
-import java.io.BufferedWriter;
-import java.io.File;
-import java.io.FileWriter;
-import java.io.IOException;
+import java.io.*;
+import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.Collections;
@@ -134,6 +132,7 @@ public class GeneratorCPP implements Generator {
         return fileContents;
     }
 
+    //TODO add incremental generation based on described concept
     public List<File> generateFiles(TaggingResolver taggingResolver, ExpandedComponentInstanceSymbol componentSymbol,
                                     Scope symtab) throws IOException {
         List<FileContent> fileContents = generateStrings(taggingResolver, componentSymbol, symtab);
@@ -161,15 +160,26 @@ public class GeneratorCPP implements Generator {
     public File generateFile(FileContent fileContent) throws IOException {
         File f = new File(getGenerationTargetPath() + fileContent.getFileName());
         Log.info(f.getName(), "FileCreation:");
+        boolean contentEqual = false;
+        //Actually slower than just saving and overwriting the file
+        /*if (f.exists()) {
+            String storedFileContent = new String(Files.readAllBytes(f.toPath()));
+            if (storedFileContent.equals(fileContent.getFileContent())) {
+                contentEqual = true;
+            }
+        } else*/
         if (!f.exists()) {
             f.getParentFile().mkdirs();
             if (!f.createNewFile()) {
                 Log.error("File could not be created");
             }
         }
-        BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(f));
-        bufferedWriter.write(fileContent.getFileContent(), 0, fileContent.getFileContent().length());
-        bufferedWriter.close();
+
+        if (!contentEqual) {
+            BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(f));
+            bufferedWriter.write(fileContent.getFileContent(), 0, fileContent.getFileContent().length());
+            bufferedWriter.close();
+        }
         return f;
     }
 

src/main/java/de/monticore/lang/monticar/generator/cpp/MathCommandRegisterCPP.java

@@ -23,6 +23,7 @@ public class MathCommandRegisterCPP extends MathCommandRegister {
         registerMathCommand(new MathEigvecCommand());
         registerMathCommand(new MathGcdCommand());
         registerMathCommand(new MathInvCommand());
+        registerMathCommand(new MathInvDiagCommand());
         registerMathCommand(new MathAbsCommand());
         registerMathCommand(new MathAcosCommand());
         registerMathCommand(new MathAcoshCommand());

src/main/java/de/monticore/lang/monticar/generator/cpp/converter/PortConverter.java

@@ -8,6 +8,7 @@ import de.monticore.lang.monticar.generator.Variable;
 import de.monticore.lang.monticar.generator.cpp.BluePrintCPP;
 import de.monticore.lang.monticar.ts.references.MCASTTypeSymbolReference;
 import de.monticore.lang.monticar.types2._ast.ASTType;
+import de.se_rwth.commons.logging.Log;
 
 /**
  * @author Sascha Schneiders
@@ -54,9 +55,11 @@ public class PortConverter {
         if (portSymbol.getTypeReference().getReferencedSymbol() instanceof MCASTTypeSymbolReference) {
             MCASTTypeSymbolReference typeSymbolReference = (MCASTTypeSymbolReference) portSymbol.getTypeReference().getReferencedSymbol();
             ASTType astType = typeSymbolReference.getAstType();
-            ASTAssignmentType astAssignmentType = (ASTAssignmentType) astType;
-            //if (astAssignmentType.getMatrixProperty().size() > 0) Log.error(astType.toString());
-            variable.addProperties(astAssignmentType.getMatrixProperty());
+            if (astType instanceof ASTAssignmentType) {
+                ASTAssignmentType astAssignmentType = (ASTAssignmentType) astType;
+                //if (astAssignmentType.getMatrixProperty().size() > 0) Log.error(astType.toString());
+                variable.addProperties(astAssignmentType.getMatrixProperty());
+            }
         }
         if (portSymbol.isIncoming())
 

src/main/java/de/monticore/lang/monticar/generator/optimization/MathDiagonalMatrixInversionOptimization.java

@@ -79,8 +79,9 @@ public class MathDiagonalMatrixInversionOptimization implements MathOptimization
                 String name = getMatrixName((MathMatrixAccessSymbol) mathExpressionSymbol.getAstMathMatrixNameExpression().getMathMatrixAccessExpression().get().getMathMatrixAccesss().get(0).getSymbol().get());//TODO handle all possible cases
                 invertsDiagonalMatrix = ComponentConverter.currentBluePrint.getMathInformationRegister().getVariable(name).getProperties().contains("diag");
             }
-            if (invertsDiagonalMatrix)
+            if (invertsDiagonalMatrix) {
                 mathExpressionSymbol.setNameToAccess("invdiag");
+            }
             Log.debug("Found inv and replaced with invdiag", "optimizeMathMatrixNameExp");
         }
         if (mathExpressionSymbol.getAstMathMatrixNameExpression().getMathMatrixAccessExpression().isPresent()) {

src/main/java/de/monticore/lang/monticar/generator/optimization/MathMatrixMultiplicationOrder.java

@@ -40,12 +40,21 @@ public class MathMatrixMultiplicationOrder implements MathOptimizationRule {
             } else if (((MathValueExpressionSymbol) mathExpressionSymbol).isNumberExpression()) {
                 //optimize((MathNumberExpressionSymbol)mathExpressionSymbol,precedingExpressions);
             }
+        } else if (mathExpressionSymbol.isForLoopExpression()) {
+            optimize((MathForLoopExpressionSymbol) mathExpressionSymbol, precedingExpressions);
         } else {
             Log.info(mathExpressionSymbol.getClass().getName(), "Symbol name:");
             Log.error("Optimizer Case not handled!");
         }
     }
 
+    public void optimize(MathForLoopExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions) {
+        //TODO enable head optimization later
+        for (MathExpressionSymbol subExp : mathExpressionSymbol.getForLoopBody()) {
+            optimize(subExp, precedingExpressions);
+        }
+    }
+
     @Override
     public void optimize(MathExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions, MathStatementsSymbol mathStatementsSymbol) {
         optimize(mathExpressionSymbol, precedingExpressions);
@@ -87,6 +96,11 @@ public class MathMatrixMultiplicationOrder implements MathOptimizationRule {
         }
     }
 
+    public void optimize(MathMatrixArithmeticExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions) {
+        optimize(mathExpressionSymbol.getLeftExpression(), precedingExpressions);
+        optimize(mathExpressionSymbol.getRightExpression(), precedingExpressions);
+    }
+
     public void optimize(MathMatrixNameExpressionSymbol matrixNameExpressionSymbol, List<MathExpressionSymbol> precedingExpressions) {
         //nothing to do in this rule
     }

src/main/java/de/monticore/lang/monticar/generator/optimization/MathMultiplicationAddition.java

@@ -19,10 +19,9 @@ public class MathMultiplicationAddition implements MathOptimizationRule {
 
     @Override
     public void optimize(MathExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions) {
-        if (mathExpressionSymbol == null){
+        if (mathExpressionSymbol == null) {
 
-        }
-        else if (mathExpressionSymbol.isMatrixExpression()) {
+        } else if (mathExpressionSymbol.isMatrixExpression()) {
             optimize((MathMatrixExpressionSymbol) mathExpressionSymbol, precedingExpressions);
         } else if (mathExpressionSymbol.isAssignmentExpression()) {
             optimize((MathAssignmentExpressionSymbol) mathExpressionSymbol, precedingExpressions);
@@ -39,12 +38,21 @@ public class MathMultiplicationAddition implements MathOptimizationRule {
             } else if (((MathValueExpressionSymbol) mathExpressionSymbol).isNumberExpression()) {
                 //optimize((MathNumberExpressionSymbol)mathExpressionSymbol,precedingExpressions);
             }
+        } else if (mathExpressionSymbol.isForLoopExpression()) {
+            optimize((MathForLoopExpressionSymbol) mathExpressionSymbol, precedingExpressions);
         } else {
             Log.info(mathExpressionSymbol.getClass().getName(), "Symbol name:");
             Log.error("Optimizer Case not handled!");
         }
     }
 
+    public void optimize(MathForLoopExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions) {
+        //TODO enable head optimization
+        for (MathExpressionSymbol subExp : mathExpressionSymbol.getForLoopBody()) {
+            optimize(subExp, precedingExpressions);
+        }
+    }
+
     @Override
     public void optimize(MathExpressionSymbol mathExpressionSymbol, List<MathExpressionSymbol> precedingExpressions, MathStatementsSymbol mathStatementsSymbol) {
         optimize(mathExpressionSymbol, precedingExpressions);

src/test/java/de/monticore/lang/monticar/generator/MathOptimizerTest.java

@@ -5,6 +5,7 @@ import de.monticore.lang.monticar.generator.cpp.GeneratorCPP;
 import de.monticore.lang.monticar.generator.optimization.MathOptimizer;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import de.monticore.symboltable.Scope;
+import org.junit.Ignore;
 import org.junit.Test;
 
 import java.io.File;
@@ -308,6 +309,7 @@ public class MathOptimizerTest extends AbstractSymtabTest {
         generatorCPP.generateFiles(componentSymbol, symtab);
     }
 
+    @Ignore
     @Test
     public void testMathAssignmentOptimization1Octave() throws IOException{
         TaggingResolver symtab = createSymTabAndTaggingResolver("src/test/resources");

src/test/java/de/monticore/lang/monticar/generator/cpp/armadillo/BasicGenerationArmadilloTest.java

@@ -91,7 +91,65 @@ public class BasicGenerationArmadilloTest extends AbstractSymtabTest {
         assertNotNull(componentSymbol);
         GeneratorCPP generatorCPP = new GeneratorCPP();
         generatorCPP.useArmadilloBackend();
-        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector");
+        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector/l0");
+        generatorCPP.generateFiles(symtab, componentSymbol, symtab);
+    }
+
+    @Test
+    public void testAllObjectDetectorInstances() throws IOException{
+        for(int i=1;i<=9;++i){
+            testObjectDetectorInstancingL0(i);
+            testObjectDetectorInstancingL1(i);
+            testObjectDetectorInstancingL2(i);
+            testObjectDetectorInstancingL3(i);
+        }
+    }
+
+    private void testObjectDetectorInstancingL0(int number) throws IOException {
+        TaggingResolver symtab = createSymTabAndTaggingResolver("src/test/resources");
+
+        ExpandedComponentInstanceSymbol componentSymbol = symtab.<ExpandedComponentInstanceSymbol>resolve("detection.objectDetector"+number, ExpandedComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentSymbol);
+        GeneratorCPP generatorCPP = new GeneratorCPP();
+        generatorCPP.useArmadilloBackend();
+        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector"+number+"/l0");
+        generatorCPP.generateFiles(symtab, componentSymbol, symtab);
+    }
+
+    private void testObjectDetectorInstancingL1(int number) throws IOException {
+        TaggingResolver symtab = createSymTabAndTaggingResolver("src/test/resources");
+
+        ExpandedComponentInstanceSymbol componentSymbol = symtab.<ExpandedComponentInstanceSymbol>resolve("detection.objectDetector"+number, ExpandedComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentSymbol);
+        GeneratorCPP generatorCPP = new GeneratorCPP();
+        generatorCPP.setUseAlgebraicOptimizations(true);
+        generatorCPP.useArmadilloBackend();
+        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector"+number+"/l1");
+        generatorCPP.generateFiles(symtab, componentSymbol, symtab);
+    }
+
+    private void testObjectDetectorInstancingL2(int number) throws IOException {
+        TaggingResolver symtab = createSymTabAndTaggingResolver("src/test/resources");
+
+        ExpandedComponentInstanceSymbol componentSymbol = symtab.<ExpandedComponentInstanceSymbol>resolve("detection.objectDetector"+number, ExpandedComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentSymbol);
+        GeneratorCPP generatorCPP = new GeneratorCPP();
+        generatorCPP.setUseThreadingOptimization(true);
+        generatorCPP.useArmadilloBackend();
+        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector"+number+"/l2");
+        generatorCPP.generateFiles(symtab, componentSymbol, symtab);
+    }
+
+
+    private void testObjectDetectorInstancingL3(int number) throws IOException {
+        TaggingResolver symtab = createSymTabAndTaggingResolver("src/test/resources");
+
+        ExpandedComponentInstanceSymbol componentSymbol = symtab.<ExpandedComponentInstanceSymbol>resolve("detection.objectDetector"+number, ExpandedComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentSymbol);
+        GeneratorCPP generatorCPP = new GeneratorCPP();
+        generatorCPP.setUseThreadingOptimization(true);
+        generatorCPP.useArmadilloBackend();
+        generatorCPP.setGenerationTargetPath("./target/generated-sources-cpp/armadillo/detectionObjectDetector"+number+"/l3");
         generatorCPP.generateFiles(symtab, componentSymbol, symtab);
     }
 }

src/test/resources/a/Sub2.emam

 package a;
 
-component Sub2 extends SuperComp{
+component Sub2 implements SuperComp{
   port in (-oo:oo) in1,
         out B out1;
 }

src/test/resources/detection/KMeansClustering.emam

@@ -9,7 +9,7 @@ component KMeansClustering<N1 n=1, N1 amountVectors=1, N1 maximumClusters=1>{
             Q^{n,amountVectors} UMatrix;
             for i=1:size(vectors,1)
                 Q^{1,amountVectors} target= vectors(i,:) .^ 2;
-                Q amount = sqrt(sum(target ));
+                Q amount = sqrt(sum(target));
                 UMatrix(i,:) = vectors(i,:) ./ amount;
             end
 

src/test/resources/detection/NormalizedLaplacian.emam

@@ -12,8 +12,11 @@ component NormalizedLaplacian<N1 n = 1>{
                 nLaplacian(i,j) = W(i,j) / (sqrt(degree(i,i)) * sqrt(degree(j,j)));
             end
         end*/
+        /*currently not working, this short notation will be automatically converted
+         * later on as it is equivalent to the expression below
+        */
+        //nLaplacian = degree^(-0.5) * W * degree^(-0.5);
         nLaplacian = sqrtm(inv(degree)) * W * sqrtm(inv(degree));
-        nLaplacian = sqrtm(inv(degree)*2) * W * sqrtm(inv(degree)*2 );
 
     }
 }
\ No newline at end of file

src/test/resources/detection/ObjectDetector1.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector1{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          out Q(-oo:oo)^{2500, 1} clusters;
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer;
+
+    connect  imgFront -> spectralClusterer.imgMatrix;
+    connect spectralClusterer.clusters -> clusters;
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector2.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector2{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          out Q(-oo:oo)^{2500, 1} clusters[2];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[2];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgBack -> spectralClusterer[2].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector3.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector3{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          out Q(-oo:oo)^{2500, 1} clusters[3];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[3];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgBack -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector4.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector4{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          in Q(0:255)^{2500, 3} imgRight,
+          out Q(-oo:oo)^{2500, 1} clusters[4];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[4];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgRight -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect  imgBack -> spectralClusterer[4].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector5.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector5{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          in Q(0:255)^{2500, 3} imgRight,
+          in Q(0:255)^{2500, 3} imgFront2,
+          out Q(-oo:oo)^{2500, 1} clusters[5];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[5];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgRight -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect  imgBack -> spectralClusterer[4].imgMatrix;
+    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector6.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector6{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          in Q(0:255)^{2500, 3} imgRight,
+          in Q(0:255)^{2500, 3} imgFront2,
+          in Q(0:255)^{2500, 3} imgBack2,
+          out Q(-oo:oo)^{2500, 1} clusters[6];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[6];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgRight -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect  imgBack -> spectralClusterer[4].imgMatrix;
+    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
+    connect  imgBack2 -> spectralClusterer[6].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector7.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector7{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          in Q(0:255)^{2500, 3} imgRight,
+          in Q(0:255)^{2500, 3} imgFront2,
+          in Q(0:255)^{2500, 3} imgBack2,
+          in Q(0:255)^{2500, 3} imgLeft2,
+          out Q(-oo:oo)^{2500, 1} clusters[7];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[7];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgRight -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect  imgBack -> spectralClusterer[4].imgMatrix;
+    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
+    connect  imgBack2 -> spectralClusterer[6].imgMatrix;
+    connect  imgLeft2 -> spectralClusterer[7].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file

src/test/resources/detection/ObjectDetector8.emam

+package detection;
+import SpectralClusterer;
+
+component ObjectDetector8{
+    ports in Q(0:255)^{2500, 3} imgFront,
+          in Q(0:255)^{2500, 3} imgBack,
+          in Q(0:255)^{2500, 3} imgLeft,
+          in Q(0:255)^{2500, 3} imgRight,
+          in Q(0:255)^{2500, 3} imgFront2,
+          in Q(0:255)^{2500, 3} imgBack2,
+          in Q(0:255)^{2500, 3} imgLeft2,
+          in Q(0:255)^{2500, 3} imgRight2,
+          out Q(-oo:oo)^{2500, 1} clusters[8];
+
+    instance SpectralClusterer<2500, 4, 4> spectralClusterer[8];
+
+    connect  imgFront -> spectralClusterer[1].imgMatrix;
+    connect  imgRight -> spectralClusterer[2].imgMatrix;
+    connect  imgLeft -> spectralClusterer[3].imgMatrix;
+    connect  imgBack -> spectralClusterer[4].imgMatrix;
+    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
+    connect  imgRight2 -> spectralClusterer[6].imgMatrix;
+    connect  imgLeft2 -> spectralClusterer[7].imgMatrix;
+    connect  imgBack2 -> spectralClusterer[8].imgMatrix;
+    connect spectralClusterer[:].clusters -> clusters[:];
+
+
+}
\ No newline at end of file