Merge branch 'adi-dev' into 'master'

Adi dev

See merge request !41

.gitlab-ci.yml

 stages:
-- linux
-- windows
+  - linux
+  #- windows
 
 masterJobLinux:
   stage: linux
   image: maven:3-jdk-8
   script:
-  - apt-get update -q && apt-get install -y -q g++ libhdf5-serial-dev libhdf5-dev libopenblas-dev
-  - gcc --help
-  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean deploy --settings settings.xml
-  - cat target/site/jacoco/index.html
-  - mvn package sonar:sonar -s settings.xml
-  only:
-  - master
-
-masterJobWindows:
-  stage: windows
-  script:
-  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml -U
+    - apt-get update -q && apt-get install -y -q g++ libhdf5-serial-dev libhdf5-dev libopenblas-dev
+    - gcc --help
+    - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean deploy --settings settings.xml
+    - cat target/site/jacoco/index.html
+    - mvn package sonar:sonar -s settings.xml
   only:
     - master
-  tags:
-  - Windows10
+
+#masterJobWindows:
+#  stage: windows
+#  script:
+#  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml -U
+#  only:
+#    - master
+#  tags:
+#  - Windows10
 
 BranchJobLinux:
   stage: linux
   image: maven:3-jdk-8
   script:
-  - apt-get update -q && apt-get install -y -q g++ libhdf5-serial-dev libhdf5-dev libopenblas-dev
-  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml 
-  - cat target/site/jacoco/index.html
+    - apt-get update -q && apt-get install -y -q g++ libhdf5-serial-dev libhdf5-dev libopenblas-dev
+    - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml
+    - cat target/site/jacoco/index.html
   except:
-  - master
+    - master
 
-BranchJobWindows:
-  stage: windows
-  script:
-  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml -U
-  - cat target/site/jacoco/index.html
-  except:
-  - master
-  tags:
-  - Windows10
+#BranchJobWindows:
+#  stage: windows
+#  script:
+#  - mvn -Dmaven.wagon.http.ssl.insecure=true -Dmaven.wagon.http.ssl.allowall=true -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml -U
+#  - cat target/site/jacoco/index.html
+#  except:
+#  - master
+#  tags:
+#  - Windows10

README.md

@@ -33,3 +33,15 @@ If no search directory is specified CMake will search on default locations. For
 Here an example for Armadillo:
 Create a environment variable called _Armadillo_Home_ with the path to the base directory of your Armadillo installation.
 
+### Note to use CV-Commands:
+* Available since version 0.1.16-SNAPSHOT. 
+* In case you use CV-Commands on input- or output ports in your Project, it is necessary to run the following command-call on the generated general file:
+
+        _sed -i 's/cube/Cube<unsigned char>/g' your_project_general_file.h_
+        
+* This adaptation should be integrated into _EMAM2CPP_ in the future.
+* For conversion between _Armadillo_-matrix/cube and _OpenCV_-matrix/cube it exists a helper-header _ConvHelper.h_. This is generated automatically if at least one CV-command is used.
+* For more information about how to use CV-Command, see the _BallTracking_-project in the application repository.
+
+
+

pom.xml

@@ -10,7 +10,7 @@
 
     <groupId>de.monticore.lang.monticar</groupId>
     <artifactId>embedded-montiarc-math-generator</artifactId>
-    <version>0.1.15-SNAPSHOT</version>
+    <version>0.1.16-SNAPSHOT</version>
 
     <!-- == PROJECT DEPENDENCIES ============================================= -->
 

src/main/java/de/monticore/lang/monticar/generator/BluePrint.java

@@ -5,6 +5,7 @@ import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instance
 import de.monticore.lang.monticar.generator.optimization.MathInformationRegister;
 
 import java.util.ArrayList;
+import java.util.Collections;
 import java.util.List;
 import java.util.Optional;
 
@@ -28,6 +29,10 @@ public class BluePrint {
         this.variables = variables;
     }
 
+    public List<Variable> getVariables() {
+        return variables;
+    }
+
     public void setName(String name) {
         this.name = name;
     }
@@ -44,10 +49,6 @@ public class BluePrint {
         return packageName;
     }
 
-    public List<Variable> getVariables() {
-        return variables;
-    }
-
     public int howManyVariables() {
         return variables.size();
     }
@@ -59,7 +60,6 @@ public class BluePrint {
         return Optional.empty();
     }
 
-
     public void addVariable(Variable v) {
         variables.add(v);
     }
@@ -68,7 +68,15 @@ public class BluePrint {
         variables.remove(v);
     }
 
+    public void replaceVariable(Variable varOld, Variable varNew){
+        Collections.replaceAll(variables,varOld, varNew);
+    }
     public void addMethod(Method method) {
+        for(Method meth: methods){
+            if(meth.getName().equals(method.getName())){
+                return;
+            }
+        }
         methods.add(method);
     }
 

src/main/java/de/monticore/lang/monticar/generator/MathBackend.java

@@ -22,6 +22,8 @@ public interface MathBackend {
 
     String getRowAccessCommandName();
 
+    String getTubeAccessCommandName();
+
     String getBackendName();
 
     String getTransposeCommand();

src/main/java/de/monticore/lang/monticar/generator/MathCommand.java

@@ -4,8 +4,11 @@ package de.monticore.lang.monticar.generator;
 
 import de.monticore.lang.math._symboltable.expression.MathExpressionSymbol;
 import de.monticore.lang.math._symboltable.matrix.MathMatrixNameExpressionSymbol;
+import de.monticore.lang.monticar.generator.cpp.BluePrintCPP;
 
 import java.util.HashSet;
+import java.util.List;
+import java.util.Optional;
 
 import static de.monticore.lang.monticar.generator.cpp.MathCommandRegisterCPP.removeBrackets;
 
@@ -62,4 +65,58 @@ public abstract class MathCommand {
         return false;
     }
 
+    public String getTypeOfFirstInput(MathMatrixNameExpressionSymbol mathMatrixNameExpressionSymbol, BluePrintCPP bluePrintCPP){
+        String nameOfFirstParameter = mathMatrixNameExpressionSymbol.getMathMatrixAccessOperatorSymbol().getMathMatrixAccessSymbols().get(0).getTextualRepresentation();
+        for(Variable var: bluePrintCPP.getVariables()){
+            String varName = var.getName();
+            if(varName.equals(nameOfFirstParameter)){
+                VariableType varType = var.getVariableType();
+                String typeName = varType.getTypeNameTargetLanguage();
+                return typeName;
+            }
+
+        }
+        return "";
+    }
+
+    public void redefineArmaMat(BluePrintCPP bluePrint){
+        List<Variable> vars= bluePrint.getVariables();
+        for(Variable var : vars){
+        VariableType varType = var.getVariableType();
+        String targetName = varType.getTypeNameTargetLanguage();
+        if(targetName.equals("mat")){
+            Variable newVar = var;
+            newVar.setTypeNameTargetLanguage("arma::Mat<unsigned char>");
+            bluePrint.replaceVariable(var, newVar);
+        }else if(targetName.equals("cube")){
+            Variable newVarCube = var;
+            newVarCube.setTypeNameTargetLanguage("Cube<unsigned char>");
+            bluePrint.replaceVariable(var, newVarCube);
+        }
+        }
+    }
+
+    public void redefineInit(BluePrintCPP bluePrint){
+        Optional<Method> methodOpt = bluePrint.getMethod("init");
+        Method initMethod = methodOpt.get();
+        List<Instruction> instructs = initMethod.getInstructions();
+
+        for(Instruction instruct : instructs){
+            String code = instruct.getTargetLanguageInstruction();
+            if(code.contains("mat(")){
+                code =code.replace("mat(", "Mat<unsigned char>(");
+            } else if(code.contains("cube(")){
+                code = code.replace("cube(", "Cube<unsigned char>(");
+            }
+            ((TargetCodeInstruction)instruct).setInstruction(code);
+        }
+    }
+
+    public boolean isArgumentNoReturnMathCommand() {
+        return false;
+    }
+
+    public boolean isCVMathCommand(){
+        return false;
+    }
 }

src/main/java/de/monticore/lang/monticar/generator/MathCommandRegister.java

 /* (c) https://github.com/MontiCore/monticore */
 package de.monticore.lang.monticar.generator;
 
+import de.monticore.lang.monticar.generator.cpp.commands.ArgumentNoReturnMathCommand;
+
 import java.util.ArrayList;
 import java.util.List;
 
@@ -8,6 +10,7 @@ import java.util.List;
  */
 public abstract class MathCommandRegister {
     public List<MathCommand> mathCommands = new ArrayList<>();
+    public List<ArgumentNoReturnMathCommand> argumentNoReturnMathCommands = new ArrayList<>();
 
     public MathCommandRegister() {
         init();
@@ -15,12 +18,15 @@ public abstract class MathCommandRegister {
 
     public void registerMathCommand(MathCommand mathCommand) {
         mathCommands.add(mathCommand);
+        if(mathCommand.isArgumentNoReturnMathCommand()){
+            argumentNoReturnMathCommands.add((ArgumentNoReturnMathCommand) mathCommand);
+        }
     }
 
     public MathCommand getMathCommand(String functionName) {
         for (MathCommand mathCommand : mathCommands) {
-            if (mathCommand.getMathCommandName().equals(functionName))
-                return mathCommand;
+           if (mathCommand.getMathCommandName().equals(functionName))
+                   return mathCommand;
         }
         return null;
     }

src/main/java/de/monticore/lang/monticar/generator/Method.java

@@ -42,6 +42,13 @@ public class Method {
         parameters.add(v);
     }
 
+    public void addParameter(Variable var, String variableName, String typeNameMontiCar,
+                             String typeNameTargetLangauge, String includeName){
+        var.setName(variableName);
+        var.setVariableType(new VariableType(typeNameMontiCar, typeNameTargetLangauge, includeName));
+        parameters.add(var);
+    }
+
     public boolean addParameterUnique(Variable v) {
         boolean added = !containsParameter(v);
         if (added) {

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

@@ -48,6 +48,11 @@ public class ArmadilloBackend implements MathBackend {
         return "row";
     }
 
+    @Override
+    public String getTubeAccessCommandName() {
+        return "tube";
+    }
+
     @Override
     public String getBackendName() {
         return "ArmadilloBackend";

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

@@ -18,6 +18,8 @@ import java.util.List;
  */
 public class BluePrintCPP extends BluePrint {
     public List<String> additionalIncludeStrings = new ArrayList<>();
+    public List<String> cvIncludeStrings = new ArrayList<>();
+    public static boolean usedCV = false;
 
     public BluePrintCPP(String name) {
         super(name);
@@ -37,6 +39,21 @@ public class BluePrintCPP extends BluePrint {
         return additionalIncludeStrings.contains(includeString);
     }
 
+    public List<String> getCVIncludeStrings() {
+        return cvIncludeStrings;
+    }
+
+    public void addCVIncludeString(String includeString) {
+        if (!hasCVIncludeString(includeString)) {
+            cvIncludeStrings.add(includeString);
+            usedCV = true;
+        }
+    }
+
+    public boolean hasCVIncludeString(String includeString) {
+        return cvIncludeStrings.contains(includeString);
+    }
+
 
     public List<String> getConsts() {
         List<String> consts = new ArrayList<>();

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

+/* (c) https://github.com/MontiCore/monticore */
+package de.monticore.lang.monticar.generator.cpp;
+
+import de.monticore.lang.monticar.generator.FileContent;
+
+/**
+ * @author Ahmed Diab
+ */
+public class ConversionHelper {
+    public static String fileName = "ConvHelper";
+
+    public static FileContent getConversionHelperFileContent(boolean generateTests) {
+        FileContent fileContent = new FileContent();
+        fileContent.setFileName(fileName + ".h");
+        String fileContentString = ConversionHelperSource.conversionHelperSourceCode;
+
+        fileContent.setFileContent(fileContentString);
+        return fileContent;
+    }
+
+    public static FileContent getConversionHelperFileContent(){
+        return getConversionHelperFileContent(false);
+    }
+}

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

+/* (c) https://github.com/MontiCore/monticore */
+package de.monticore.lang.monticar.generator.cpp;
+
+/**
+ * @author Ahmed Diab
+ */
+public class ConversionHelperSource {
+
+    public static String conversionHelperSourceCode = "#ifndef CONVHELPER_H\n" +
+            "#define CONVHELPER_H\n" +
+            "#include <iostream>\n" +
+            "#include \"armadillo\"\n" +
+            "#include <stdarg.h>\n" +
+            "#include <initializer_list>\n" +
+            "#include <fstream>\n" +
+            "using namespace arma;\n" +
+            "\n" +
+            "\n" +
+            "// convert an OpenCV matrix to Armadillo matrix. NOTE: a copy is made\n" +
+            "template <typename T>\n" +
+            "arma::Mat<T> to_arma(const cv::Mat_<T>& src) {\n" +
+            "    arma::Mat<T> dst(reinterpret_cast<T*>(src.data), src.cols, src.rows);\n" +
+            "    //src.copyTo({ src.rows, src.cols, dst.memptr() });\n" +
+            "    return dst;\n" +
+            "}\n" +
+            "\n" +
+            "// convert an Armadillo matrix to OpenCV matrix. NOTE: no copy is made\n" +
+            "template<typename T>\n" +
+            "cv::Mat_<T> to_cvmat(const arma::Mat<T>& src) {\n" +
+            "    return cv::Mat_<T>{int(src.n_cols), int(src.n_rows), const_cast<T*>(src.memptr())};\n" +
+            "}\n" +
+            "\n" +
+            "// convert an OpenCV multi-channel matrix to Armadillo cube. A copy is made\n" +
+            "template <typename T, int NC>\n" +
+            "Cube<T> to_armaCube(const cv::Mat_<cv::Vec<T, NC>>& src)\n" +
+            "{\n" +
+            "    std::vector<cv::Mat_<T>> channels;\n" +
+            "    Cube<T> dst(src.cols, src.rows, NC);\n" +
+            "    for (int c = 0; c < NC; ++c)\n" +
+            "        channels.push_back({ src.rows, src.cols, dst.slice(c).memptr() });\n" +
+            "    cv::split(src, channels);\n" +
+            "    return dst;\n" +
+            "}\n" +
+            "\n" +
+            "// convert an Armadillo cube to OpenCV matrix. NOTE: a copy is made\n" +
+            "template <typename T>\n" +
+            "cv::Mat to_cvmat(const Cube<T>& src) {\n" +
+            "    std::vector<cv::Mat_<T>> channels;\n" +
+            "    for (size_t c = 0; c < src.n_slices; ++c) {\n" +
+            "        auto* data = const_cast<T*>(src.slice(c).memptr());\n" +
+            "        channels.push_back({ int(src.n_cols), int(src.n_rows), data });\n" +
+            "    }\n" +
+            "    cv::Mat dst;\n" +
+            "    cv::merge(channels, dst);\n" +
+            "    return dst;\n" +
+            "}\n" +
+            "\n" +
+            "\n" +
+            "#endif";
+}

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

@@ -16,6 +16,7 @@ import de.monticore.lang.monticar.generator.cpp.converter.ExecuteMethodGenerator
 import de.monticore.lang.monticar.generator.cpp.converter.MathConverter;
 import de.monticore.lang.monticar.generator.cpp.converter.OptimizationSymbolHandler;
 import de.monticore.lang.monticar.generator.cpp.converter.TypeConverter;
+import de.monticore.lang.monticar.generator.cpp.BluePrintCPP.*;
 import de.monticore.lang.monticar.generator.cpp.mathopt.MathOptSolverConfig;
 import de.monticore.lang.monticar.generator.cpp.template.AllTemplates;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.AutopilotAdapterDataModel;
@@ -59,6 +60,8 @@ public class GeneratorCPP implements Generator {
     private boolean generateCMake = false;
     private CMakeConfig cMakeConfig;
 
+
+
     //MathOpt
     private MathOptSolverConfig mathOptSolverConfig = new MathOptSolverConfig();
     private OptimizationSymbolHandler mathOptExecuteMethodGenerator = new OptimizationSymbolHandler();
@@ -122,7 +125,6 @@ public class GeneratorCPP implements Generator {
 
     public String generateString(TaggingResolver taggingResolver, EMAComponentInstanceSymbol componentInstanceSymbol, Scope symtab) {
         MathStatementsSymbol mathSymbol = Helper.getMathStatementsSymbolFor(componentInstanceSymbol, symtab);
-
         return generateString(taggingResolver, componentInstanceSymbol, mathSymbol);
     }
 
@@ -204,9 +206,13 @@ public class GeneratorCPP implements Generator {
             }
             if (MathConverter.curBackend.getBackendName().equals("OctaveBackend"))
                 fileContents.add(OctaveHelper.getOctaveHelperFileContent());
-            if (MathConverter.curBackend.getBackendName().equals("ArmadilloBackend"))
+            if (MathConverter.curBackend.getBackendName().equals("ArmadilloBackend")) {
                 fileContents.add(ArmadilloHelper.getArmadilloHelperFileContent(isGenerateTests));
-
+                if (BluePrintCPP.usedCV) {
+                    fileContents.add(ConversionHelper.getConversionHelperFileContent(isGenerateTests));
+                    BluePrintCPP.usedCV = false;
+                }
+            }
             if (shouldGenerateMainClass()) {
                 //fileContents.add(getMainClassFileContent(componentInstanceSymbol, fileContents.get(0)));
             } else if (shouldGenerateSimulatorInterface()) {

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

@@ -3,9 +3,13 @@ package de.monticore.lang.monticar.generator.cpp;
 
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
 import de.monticore.lang.math._symboltable.MathStatementsSymbol;
+import de.monticore.lang.math._symboltable.expression.MathAssignmentExpressionSymbol;
+import de.monticore.lang.math._symboltable.expression.MathExpressionSymbol;
+import de.monticore.lang.math._symboltable.matrix.MathMatrixNameExpressionSymbol;
 import de.monticore.lang.monticar.generator.*;
 import de.monticore.lang.monticar.generator.cpp.converter.ComponentConverter;
 import de.monticore.lang.monticar.generator.cpp.converter.MathConverter;
+import de.monticore.lang.monticar.generator.MathCommand;
 import de.monticore.lang.monticar.generator.cpp.instruction.ConnectInstructionCPP;
 import de.monticore.lang.monticar.generator.cpp.template.AllTemplates;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.LoggingViewModel;
@@ -32,6 +36,15 @@ public class LanguageUnitCPP extends LanguageUnit {
         this.generatorCPP = generatorCPP;
     }
 
+    // add a function for seareching a string form list<String> in string
+    private boolean containsString(String str, List<String> listOfStrings){
+        boolean isContained = false;
+        for(String foo: listOfStrings){
+            if(str.toLowerCase().contains(foo.toLowerCase()))
+                isContained = true;
+        }
+        return isContained;
+    }
     public void generateBluePrints() {
         for (int i = 0; i < symbolsToConvert.size(); ++i) {
             Symbol symbol = symbolsToConvert.get(i);
@@ -73,16 +86,18 @@ public class LanguageUnitCPP extends LanguageUnit {
                     "#endif\n";
 
         List<String> alreadyGeneratedIncludes = new ArrayList<>();
+        List<String> alreadyGeneratedCVIncludes = new ArrayList<>();
         //includes
         //add default include
         String backendName = MathConverter.curBackend.getBackendName();
-        if (MathConverter.curBackend.getBackendName().equals("OctaveBackend")) {
+        if (backendName.equals("OctaveBackend")) {
             resultString += "#include \"octave/oct.h\"\n";
             alreadyGeneratedIncludes.add("octave/oct");
-        } else if (MathConverter.curBackend.getBackendName().equals("ArmadilloBackend")) {
+        } else if (backendName.equals("ArmadilloBackend")) {
             resultString += "#include \"" + MathConverter.curBackend.getIncludeHeaderName() + "\"\n";
             alreadyGeneratedIncludes.add(MathConverter.curBackend.getIncludeHeaderName());
         }
+
         for (Variable v : bluePrint.getVariables()) {
             //TODO remove multiple same includes
             if (v.hasInclude()) {
@@ -108,6 +123,17 @@ public class LanguageUnitCPP extends LanguageUnit {
         for (String string : bluePrint.getAdditionalIncludeStrings())
             resultString += "#include \"" + string + ".h\"\n";
 
+        for(String includeName: bluePrint.getCVIncludeStrings())
+            if(!alreadyGeneratedCVIncludes.contains(includeName)) {
+                alreadyGeneratedCVIncludes.add(includeName);
+                if (includeName.contains("vector")) {
+                    resultString += "#include <" + includeName + ">\n";
+                } else if (includeName.contains("ConvHelper")) {
+                    resultString += "#include \"" + "ConvHelper" + ".h\"\n";
+                } else {
+                    resultString += "#include <" + includeName + ".hpp>\n";
+                }
+            }
         if (generatorCPP.isExecutionLoggingActive)
             resultString += "#include <fstream>\n";
 
@@ -124,8 +150,12 @@ public class LanguageUnitCPP extends LanguageUnit {
             resultString += "using namespace arma;\n";
         }
 
+        if(!bluePrint.cvIncludeStrings.isEmpty()){
+            resultString += "using namespace std;\n";
+        }
+
         //class definition start
-        resultString += "class " + bluePrint.getName() ;
+        resultString += "class " + bluePrint.getName();
         resultString += "{\n";
 
         //const variables

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

@@ -30,6 +30,11 @@ public class LinalgBackend implements MathBackend {
         return null;
     }
 
+    @Override
+    public String getTubeAccessCommandName(){
+        return null;
+    }
+
     @Override
     public String getColumnVectorTypeName() {
         return null;

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

@@ -53,6 +53,19 @@ public class MathCommandRegisterCPP extends MathCommandRegister {
         registerMathCommand(new MathKMeansCommand());
         registerMathCommand(new MathSqrtmCommand());
         registerMathCommand(new MathSqrtmDiagCommand());
+        registerMathCommand(new MathCeilCommand());
+
+        //register CV commands
+        registerMathCommand(new ErodeCommand());
+        registerMathCommand(new DilateCommand());
+        registerMathCommand(new BoundingRectCommand());
+        registerMathCommand(new CvtColorCommand());
+        registerMathCommand(new FindContoursCommand());
+        registerMathCommand(new GaussianBlurCommand());
+        registerMathCommand(new InRangeCommand());
+        registerMathCommand(new LargestContourCommand());
+        registerMathCommand(new RectangleCommand());
+
 
         //for fixing some errors
         registerMathCommand(new MathRowCommand());

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

+/* (c) https://github.com/MontiCore/monticore */
+package de.monticore.lang.monticar.generator.cpp;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._ast.ASTSubComponent;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.InstanceInformation;
+import de.monticore.lang.monticar.generator.BluePrint;
+import de.monticore.lang.monticar.generator.Instruction;
+import de.monticore.lang.monticar.generator.Variable;
+import de.monticore.lang.monticar.resolution._ast.ASTUnitNumberResolution;
+import de.monticore.lang.monticar.si._symboltable.ResolutionDeclarationSymbol;
+import de.se_rwth.commons.logging.Log;
+
+import java.util.ArrayList;
+import java.util.List;