add_definitions("-DRTABMAP_TEST_DATA_ROOT=\"${TEST_DATA_ROOT}\"")

#util2d.h
add_executable(test_util2d test_util2d.cpp)
target_link_libraries(test_util2d gtest_main rtabmap_core)
gtest_discover_tests(test_util2d)

#util3d.h
add_executable(test_util3d test_util3d.cpp)
target_link_libraries(test_util3d gtest_main rtabmap_core)
gtest_discover_tests(test_util3d)

#util3d_transforms.h
add_executable(test_util3d_transforms test_util3d_transforms.cpp)
target_link_libraries(test_util3d_transforms gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_transforms)

#util3d_filtering.h
add_executable(test_util3d_filtering test_util3d_filtering.cpp)
target_link_libraries(test_util3d_filtering gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_filtering)

#util3d_registration.h
add_executable(test_util3d_registration test_util3d_registration.cpp)
target_link_libraries(test_util3d_registration gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_registration)

#util3d_features.h
add_executable(test_util3d_features test_util3d_features.cpp)
target_link_libraries(test_util3d_features gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_features)

#util3d_correspondences.h
add_executable(test_util3d_correspondences test_util3d_correspondences.cpp)
target_link_libraries(test_util3d_correspondences gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_correspondences)

#util3d_mapping.h
add_executable(test_util3d_mapping test_util3d_mapping.cpp)
target_link_libraries(test_util3d_mapping gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_mapping)

#util3d_motion_estimation.h
add_executable(test_util3d_motion_estimation test_util3d_motion_estimation.cpp)
target_link_libraries(test_util3d_motion_estimation gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_motion_estimation)

#util3d_surface.h
add_executable(test_util3d_surface test_util3d_surface.cpp)
target_link_libraries(test_util3d_surface gtest_main rtabmap_core)
gtest_discover_tests(test_util3d_surface)

#VisualWord.h
add_executable(VisualWordTests VisualWordTests.cpp)
target_link_libraries(VisualWordTests gtest_main rtabmap_core)
gtest_discover_tests(VisualWordTests)

#Transform.h
add_executable(TransformTests TransformTests.cpp)
target_link_libraries(TransformTests gtest_main rtabmap_core)
gtest_discover_tests(TransformTests)