find_gtest()

# Build the test support library
add_library(
  ${PROJECT_NAME}_test_support SHARED
  src/pose_generator.cpp
  src/observation_creator.cpp
  src/dh_chain_observation_creator.cpp
  src/utilities.cpp
  src/circle_fit.cpp)
target_link_libraries(${PROJECT_NAME}_test_support PUBLIC ${PROJECT_NAME}_optimizations)
target_include_directories(${PROJECT_NAME}_test_support PUBLIC include)
target_compile_definitions(${PROJECT_NAME}_test_support PUBLIC RANDOM_SEED=0)

# The actual tests...

# Conversions
add_executable(${PROJECT_NAME}_conversion_tests conversion_utest.cpp)
target_link_libraries(${PROJECT_NAME}_conversion_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_conversion_tests)
add_dependencies(run_tests ${PROJECT_NAME}_conversion_tests)

# Extrinsic multi-static camera
add_executable(${PROJECT_NAME}_extrinsic_multi_static_camera_tests extrinsic_multi_static_camera_utest.cpp)
target_link_libraries(${PROJECT_NAME}_extrinsic_multi_static_camera_tests PRIVATE ${PROJECT_NAME}_test_support
                                                                                  GTest::GTest GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_extrinsic_multi_static_camera_tests)
add_dependencies(run_tests ${PROJECT_NAME}_extrinsic_multi_static_camera_tests)

# Extrinsic hand-eye
add_executable(${PROJECT_NAME}_extrinsic_hand_eye_tests extrinsic_hand_eye_utest.cpp)
target_link_libraries(${PROJECT_NAME}_extrinsic_hand_eye_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest
                                                                       GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_extrinsic_hand_eye_tests)
add_dependencies(run_tests ${PROJECT_NAME}_extrinsic_hand_eye_tests)

# DH Chain
add_executable(${PROJECT_NAME}_dh_parameter_tests dh_parameter_utest.cpp)
target_link_libraries(${PROJECT_NAME}_dh_parameter_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_dh_parameter_tests)
add_dependencies(run_tests ${PROJECT_NAME}_dh_parameter_tests)

# Extrinsic hand-eye using DH Chain
add_executable(${PROJECT_NAME}_extrinsic_hand_eye_dh_chain_tests extrinsic_hand_eye_dh_chain_utest.cpp)
target_link_libraries(${PROJECT_NAME}_extrinsic_hand_eye_dh_chain_tests PRIVATE ${PROJECT_NAME}_test_support
                                                                                GTest::GTest GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_extrinsic_hand_eye_dh_chain_tests)
add_dependencies(run_tests ${PROJECT_NAME}_extrinsic_hand_eye_dh_chain_tests)

# Covariance The expectations for the covariance matrices of these tests tends to be flaky due to random number
# generation, so let's only build but not run these tests
add_executable(${PROJECT_NAME}_covariance_tests covariance_utest.cpp)
target_link_libraries(${PROJECT_NAME}_covariance_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest GTest::Main)
add_dependencies(run_tests ${PROJECT_NAME}_covariance_tests)

# Homography
add_executable(${PROJECT_NAME}_homography_tests homography_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_homography_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_homography_tests)
add_dependencies(run_tests ${PROJECT_NAME}_homography_tests)

# PnP
add_executable(${PROJECT_NAME}_pnp_tests pnp_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_pnp_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_pnp_tests)
add_dependencies(run_tests ${PROJECT_NAME}_pnp_tests)

# Camera intrinsic calibration validation
add_executable(${PROJECT_NAME}_camera_intrinsic_validation_tests camera_intrinsic_calibration_validation_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_camera_intrinsic_validation_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_camera_intrinsic_validation_tests)
add_dependencies(run_tests ${PROJECT_NAME}_camera_intrinsic_validation_tests)

# Noise Qualification
add_executable(${PROJECT_NAME}_noise_tests noise_qualification_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_noise_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_noise_tests)
add_dependencies(run_tests ${PROJECT_NAME}_noise_tests)

# Maximum Likelihood
add_executable(${PROJECT_NAME}_maximum_likelihood_tests maximum_likelihood_utest.cpp)
target_link_libraries(${PROJECT_NAME}_maximum_likelihood_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest
                                                                       GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_maximum_likelihood_tests)
add_dependencies(run_tests ${PROJECT_NAME}_maximum_likelihood_tests)

# DH Chain Kinematic Calibration
add_executable(${PROJECT_NAME}_dh_chain_kinematic_calibration_tests dh_chain_kinematic_calibration_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_dh_chain_kinematic_calibration_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_dh_chain_kinematic_calibration_tests)
add_dependencies(run_tests ${PROJECT_NAME}_dh_chain_kinematic_calibration_tests)

# DH Chain Kinematic Measurement Calibration
add_executable(${PROJECT_NAME}_dh_chain_kinematic_measurement_tests dh_chain_kinematic_measurement_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_dh_chain_kinematic_measurement_tests
  PRIVATE ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_dh_chain_kinematic_measurement_tests)
add_dependencies(run_tests ${PROJECT_NAME}_dh_chain_kinematic_measurement_tests)

# Local Parameterization
add_executable(${PROJECT_NAME}_local_parameterization_tests local_parameterization_utest.cpp)
target_link_libraries(${PROJECT_NAME}_local_parameterization_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest
                                                                           GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_local_parameterization_tests)
add_dependencies(run_tests ${PROJECT_NAME}_local_parameterization_tests)

# Serialization
add_executable(${PROJECT_NAME}_serialization_tests serialization_utest.cpp)
target_link_libraries(${PROJECT_NAME}_serialization_tests PRIVATE ${PROJECT_NAME}_test_support GTest::GTest GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_serialization_tests)
add_dependencies(run_tests ${PROJECT_NAME}_serialization_tests)

# Target Finder
add_executable(${PROJECT_NAME}_target_finder_test target_finder_utest.cpp)
target_link_libraries(
  ${PROJECT_NAME}_target_finder_test
  PRIVATE ${PROJECT_NAME}_target_finders_opencv
          ${PROJECT_NAME}_analysis
          GTest::GTest
          GTest::Main)
add_gtest_discover_tests(${PROJECT_NAME}_target_finder_test)
add_dependencies(run_tests ${PROJECT_NAME}_target_finder_test)
target_compile_definitions(${PROJECT_NAME}_target_finder_test
                           PUBLIC TEST_SUPPORT_DIR="${CMAKE_CURRENT_SOURCE_DIR}/images/")

# Install the test executables so they can be run independently later if needed
install(
  TARGETS ${PROJECT_NAME}_test_support
          ${PROJECT_NAME}_conversion_tests
          ${PROJECT_NAME}_covariance_tests
          ${PROJECT_NAME}_extrinsic_multi_static_camera_tests
          ${PROJECT_NAME}_extrinsic_hand_eye_tests
          ${PROJECT_NAME}_dh_parameter_tests
          ${PROJECT_NAME}_extrinsic_hand_eye_dh_chain_tests
          ${PROJECT_NAME}_homography_tests
          ${PROJECT_NAME}_pnp_tests
          ${PROJECT_NAME}_camera_intrinsic_validation_tests
          ${PROJECT_NAME}_noise_tests
          ${PROJECT_NAME}_maximum_likelihood_tests
          ${PROJECT_NAME}_dh_chain_kinematic_calibration_tests
          ${PROJECT_NAME}_local_parameterization_tests
          ${PROJECT_NAME}_dh_chain_kinematic_measurement_tests
          ${PROJECT_NAME}_serialization_tests
          ${PROJECT_NAME}_target_finder_test
  RUNTIME DESTINATION bin/tests
  LIBRARY DESTINATION lib/tests
  ARCHIVE DESTINATION lib/tests)