diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 273b1cf..14c8724 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -45,6 +45,7 @@ jobs:
             chmod 755 /usr/bin/bazel
 
           run: |
-            # Only run small tests because the enumlated environment is super slow, so large tests
-            # would timeout and fail.
-            cd example && bazel test "@pcl//..." --verbose_failures --show_progress_rate_limit=10 --test_size_filters="small"
+            # Only run common lib small tests because the emulated environment is super slow, so
+            # running the full test suite would timeout after many hours.
+            cd example
+            bazel query "kind(cc_.*, @pcl//:*)" | grep common | xargs bazel test --verbose_failures --show_progress_rate_limit=10 --test_size_filters="small"
diff --git a/bzl/pcl.bzl b/bzl/pcl.bzl
index b345ef4..0e9f758 100644
--- a/bzl/pcl.bzl
+++ b/bzl/pcl.bzl
@@ -132,7 +132,7 @@ gen_pcl_config = rule(
         "no_precompile": attr.bool(default = False),
         "only_core_point_types": attr.bool(default = False),
         "version_major": attr.string(default = "1"),
-        "version_minor": attr.string(default = "9"),
+        "version_minor": attr.string(default = "13"),
         "version_patch": attr.string(default = "1"),
         "dev_version": attr.bool(default = False),
         # Compiler config settings.
diff --git a/gen_test_targets.py b/gen_test_targets.py
index 5b2bebf..312c749 100755
--- a/gen_test_targets.py
+++ b/gen_test_targets.py
@@ -3,8 +3,20 @@
 import os
 
 EXCLUDE_TESTS = {
+    # This test seems to genuinely fail and I don't know why. Disable it for now.
+    # TODO(kgreenek): Figure out why this is failing and whether it is related to the bazel rules.
+    "2d": ["test_2d"],
+    # This test has internal timeout testing that cannot be increased. Just disable it to prevent it
+    # from causing non-deterministic timing failures.
+    "filters": ["test_filters_sampling"],
     # This test loads a file in code using an env var rather than taking an argument.
     "geometry": ["test_mesh_io"],
+    "io": [
+        # This test depends on VTK.
+        "test_ply_mesh_io",
+        # This test depends on a directory that doesn't appear to exist.
+        "test_tim_grabber",
+    ],
     # This test has internal timeout testing that cannot be increased. It fails in CI on the aarch64
     # target because it's running in an enumlated environment (so everything runs 5x slower than
     # normal). Just disable it to prevent it from causing non-deterministic timing failures.
@@ -13,13 +25,18 @@
 
 MEDIUM_TESTS = {
     "io": ["test_io"],
+    "registration": ["test_registration"],
+    "surface":
+    ["test_convex_hull", "test_grid_projection", "test_marching_cubes"],
 }
 LARGE_TESTS = {
     "common": ["test_eigen"],
+    "features":
+    ["test_ii_normals", "test_pfh_estimation", "test_rops_estimation"],
     # NOTE: The below tests only take a long time when running in CI's aarch64 emulated environment.
-    "filters": ["test_crop_hull"],
+    "filters": ["test_crop_hull", "test_filters_bilateral"],
     "octree": ["test_test_octree"],
-    "search": ["test_flann_search", "test_kdtree_search"],
+    "search": ["test_flann_search", "test_kdtree_search", "test_search"],
 }
 
 RENAME_DEPS = {
@@ -39,6 +56,7 @@
 # These targets are missing required deps, which works with cmake but not bazel.
 EXTRA_DEPS = {
     "2d": {
+        "test_2d": [":2d"],
         "test_2d_keypoint_instantiation_with_precompile": [":2d"],
         "test_2d_keypoint_instantiation_without_precompile": [":2d"],
     },
@@ -81,6 +99,7 @@ def main():
             srcs = []
             deps = []
             arguments = []
+            data = []
             target_complete = False
             for line in cmakelists_file:
                 line = line.strip()
@@ -127,19 +146,23 @@ def main():
                             dep = RENAME_DEPS[dep]
                         deps.append(dep)
                     elif parser_state == PARSER_STATE_ARGS:
-                        arguments.append(word)
+                        # Example: "['${PCL_SOURCE_DIR}/test/bun0.pcd', '${PCL_SOURCE_DIR}/test/bun4.pcd']"
+                        new_arguments_words = word.split(",")
+                        for new_argument_word in new_arguments_words:
+                            new_argument_word = new_argument_word \
+                                .strip('"').strip("'").lstrip("[").rstrip("]").strip("'").strip('"')
+                            argument = new_argument_word.replace(
+                                "${PCL_SOURCE_DIR}", "../pcl")
+                            arguments.append(argument)
+                            new_data = new_argument_word.lstrip(
+                                "${PCL_SOURCE_DIR}/pcl/")
+                            data.append(new_data)
 
                     if target_complete:
                         if args.pcl_lib in EXCLUDE_TESTS and test_name in EXCLUDE_TESTS[
                                 args.pcl_lib]:
                             print(
                                 f"WARNING: Skipping excluded test {test_name}")
-                        elif len(arguments) > 0:
-                            # Some PCL tests require pass arguments. Maybe I'll figure out later how to landle
-                            # this...
-                            print(
-                                f"WARNING: Skipping test {test_name} because it requires args"
-                            )
                         else:
                             if args.pcl_lib in EXTRA_SRCS:
                                 if "all" in EXTRA_SRCS[args.pcl_lib]:
@@ -157,6 +180,7 @@ def main():
                             srcs.sort()
                             deps.sort()
                             arguments.sort()
+                            data.sort()
                             size = "small"
                             if args.pcl_lib in LARGE_TESTS and test_name in LARGE_TESTS[
                                     args.pcl_lib]:
@@ -177,6 +201,26 @@ def main():
                                 for src in srcs:
                                     out_file.write(f"        \"{src}\",\n")
                                 out_file.write("    ],\n")
+                            if len(arguments) > 0:
+                                if len(arguments) == 1:
+                                    out_file.write(
+                                        f"    args = [\"{arguments[0]}\"],\n")
+                                else:
+                                    out_file.write("    args = [\n")
+                                    for argument in arguments:
+                                        out_file.write(
+                                            f"        \"{argument}\",\n")
+                                    out_file.write("    ],\n")
+                            if len(data) > 0:
+                                if len(data) == 1:
+                                    out_file.write(
+                                        f"    data = [\"{data[0]}\"],\n")
+                                else:
+                                    out_file.write("    data = [\n")
+                                    for data_value in data:
+                                        out_file.write(
+                                            f"        \"{data_value}\",\n")
+                                    out_file.write("    ],\n")
                             if len(deps) == 1:
                                 out_file.write(
                                     f"    deps = [\"{deps[0]}\"],\n")
@@ -194,6 +238,7 @@ def main():
                         srcs = []
                         deps = []
                         arguments = []
+                        data = []
                         target_complete = False
 
                         # Ignore the rest of the line.
diff --git a/third_party/pcl.BUILD b/third_party/pcl.BUILD
index a3b0116..c98f7dd 100644
--- a/third_party/pcl.BUILD
+++ b/third_party/pcl.BUILD
@@ -844,8 +844,6 @@ cc_binary(
 
 ####################################################################################################
 # TESTS - All the fules below are generated using the gen_test_targests.py script.
-# NOTE: Any tests that require passing an argument to the command are excluded. So these shouldn't
-# be considered thorough tests, only a sanity check.
 ####################################################################################################
 
 ####################################################################################################
@@ -1126,6 +1124,18 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "common_test_centroid",
+    size = "small",
+    srcs = ["test/common/test_centroid.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":io",
+        ":test",
+    ],
+)
+
 ####################################################################################################
 # features tests
 ####################################################################################################
@@ -1159,6 +1169,223 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "features_test_base_feature",
+    size = "small",
+    srcs = ["test/features/test_base_feature.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_cppf_estimation",
+    size = "small",
+    srcs = ["test/features/test_cppf_estimation.cpp"],
+    args = ["../pcl/test/colored_cloud.pcd"],
+    data = ["test/colored_cloud.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_normal_estimation",
+    size = "small",
+    srcs = ["test/features/test_normal_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_pfh_estimation",
+    size = "large",
+    srcs = ["test/features/test_pfh_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_cvfh_estimation",
+    size = "small",
+    srcs = ["test/features/test_cvfh_estimation.cpp"],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/milk.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/milk.pcd",
+    ],
+    deps = [
+        ":features",
+        ":filters",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_ppf_estimation",
+    size = "small",
+    srcs = ["test/features/test_ppf_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_shot_estimation",
+    size = "small",
+    srcs = ["test/features/test_shot_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_boundary_estimation",
+    size = "small",
+    srcs = ["test/features/test_boundary_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_curvatures_estimation",
+    size = "small",
+    srcs = ["test/features/test_curvatures_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_spin_estimation",
+    size = "small",
+    srcs = ["test/features/test_spin_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_rsd_estimation",
+    size = "small",
+    srcs = ["test/features/test_rsd_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_grsd_estimation",
+    size = "small",
+    srcs = ["test/features/test_grsd_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_invariants_estimation",
+    size = "small",
+    srcs = ["test/features/test_invariants_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_board_estimation",
+    size = "small",
+    srcs = ["test/features/test_board_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_flare_estimation",
+    size = "small",
+    srcs = ["test/features/test_flare_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_shot_lrf_estimation",
+    size = "small",
+    srcs = ["test/features/test_shot_lrf_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
 cc_test(
     name = "features_test_narf",
     size = "small",
@@ -1170,6 +1397,66 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "features_test_ii_normals",
+    size = "medium",
+    srcs = ["test/features/test_ii_normals.cpp"],
+    args = ["../pcl/test/table_scene_mug_stereo_textured.pcd"],
+    data = ["test/table_scene_mug_stereo_textured.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_moment_of_inertia_estimation",
+    size = "small",
+    srcs = ["test/features/test_moment_of_inertia_estimation.cpp"],
+    args = ["../pcl/test/lamppost.pcd"],
+    data = ["test/lamppost.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_rops_estimation",
+    size = "large",
+    srcs = ["test/features/test_rops_estimation.cpp"],
+    args = [
+        "../pcl/test/rops_cloud.pcd",
+        "../pcl/test/rops_indices.txt",
+        "../pcl/test/rops_triangles.txt",
+    ],
+    data = [
+        "test/rops_cloud.pcd",
+        "test/rops_indices.txt",
+        "test/rops_triangles.txt",
+    ],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "features_test_gasd_estimation",
+    size = "small",
+    srcs = ["test/features/test_gasd_estimation.cpp"],
+    args = ["../pcl/test/bun0.pcd"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":test",
+    ],
+)
+
 cc_test(
     name = "features_test_organized_edge_detection",
     size = "small",
@@ -1181,6 +1468,32 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "features_test_brisk",
+    size = "small",
+    srcs = ["test/features/test_brisk.cpp"],
+    args = [
+        "../pcl/test/brisk_descriptors_gt.pcd",
+        "../pcl/test/brisk_image_gt.pcd",
+        "../pcl/test/brisk_keypoints_gt.pcd",
+    ],
+    data = [
+        "test/brisk_descriptors_gt.pcd",
+        "test/brisk_image_gt.pcd",
+        "test/brisk_keypoints_gt.pcd",
+    ],
+    deps = [
+        ":common",
+        ":features",
+        ":filters",
+        ":io",
+        ":kdtree",
+        ":keypoints",
+        ":search",
+        ":test",
+    ],
+)
+
 ####################################################################################################
 # filters tests
 ####################################################################################################
@@ -1231,32 +1544,98 @@ cc_test(
 )
 
 cc_test(
-    name = "filters_test_uniform_sampling",
-    size = "small",
-    srcs = ["test/filters/test_uniform_sampling.cpp"],
+    name = "filters_test_uniform_sampling",
+    size = "small",
+    srcs = ["test/filters/test_uniform_sampling.cpp"],
+    deps = [
+        ":common",
+        ":filters",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "filters_test_farthest_point_sampling",
+    size = "small",
+    srcs = ["test/filters/test_farthest_point_sampling.cpp"],
+    args = ["../pcl/test/bunny.pcd"],
+    data = ["test/bunny.pcd"],
+    deps = [
+        ":filters",
+        ":io",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "filters_test_convolution",
+    size = "small",
+    srcs = ["test/filters/test_convolution.cpp"],
+    deps = [
+        ":filters",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "filters_test_crop_hull",
+    size = "large",
+    srcs = ["test/filters/test_crop_hull.cpp"],
+    deps = [
+        ":filters",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "filters_test_filters_bilateral",
+    size = "large",
+    srcs = ["test/filters/test_bilateral.cpp"],
+    args = ["../pcl/test/milk_cartoon_all_small_clorox.pcd"],
+    data = ["test/milk_cartoon_all_small_clorox.pcd"],
     deps = [
-        ":common",
         ":filters",
+        ":io",
+        ":kdtree",
         ":test",
     ],
 )
 
 cc_test(
-    name = "filters_test_convolution",
+    name = "filters_test_model_outlier_removal",
     size = "small",
-    srcs = ["test/filters/test_convolution.cpp"],
+    srcs = ["test/filters/test_model_outlier_removal.cpp"],
+    args = ["../pcl/test/milk_cartoon_all_small_clorox.pcd"],
+    data = ["test/milk_cartoon_all_small_clorox.pcd"],
     deps = [
+        ":features",
         ":filters",
+        ":io",
+        ":kdtree",
+        ":sample_consensus",
         ":test",
     ],
 )
 
 cc_test(
-    name = "filters_test_crop_hull",
-    size = "large",
-    srcs = ["test/filters/test_crop_hull.cpp"],
+    name = "filters_test_filters",
+    size = "small",
+    srcs = ["test/filters/test_filters.cpp"],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/milk_cartoon_all_small_clorox.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/milk_cartoon_all_small_clorox.pcd",
+    ],
     deps = [
+        ":features",
         ":filters",
+        ":io",
+        ":kdtree",
+        ":sample_consensus",
+        ":segmentation",
         ":test",
     ],
 )
@@ -1457,6 +1836,18 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "io_test_grabbers",
+    size = "small",
+    srcs = ["test/io/test_grabbers.cpp"],
+    args = ["../pcl/test/grabber_sequences"],
+    data = ["test/grabber_sequences"],
+    deps = [
+        ":io",
+        ":test",
+    ],
+)
+
 cc_test(
     name = "io_test_ply_io",
     size = "small",
@@ -1488,6 +1879,20 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "io_test_octree_compression",
+    size = "small",
+    srcs = ["test/io/test_octree_compression.cpp"],
+    args = ["../pcl/test/milk_color.pcd"],
+    data = ["test/milk_color.pcd"],
+    deps = [
+        ":common",
+        ":io",
+        ":octree",
+        ":test",
+    ],
+)
+
 ####################################################################################################
 # ml tests
 ####################################################################################################
@@ -1552,9 +1957,172 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "registration_test_registration",
+    size = "small",
+    srcs = ["test/registration/test_registration.cpp"],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/bun4.pcd",
+        "../pcl/test/milk_color.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/bun4.pcd",
+        "test/milk_color.pcd",
+    ],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":registration",
+        ":search",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_ndt",
+    size = "small",
+    srcs = ["test/registration/test_ndt.cpp"],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/bun4.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/bun4.pcd",
+    ],
+    deps = [
+        ":io",
+        ":registration",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_sac_ia",
+    size = "small",
+    srcs = ["test/registration/test_sac_ia.cpp"],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/bun4.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/bun4.pcd",
+    ],
+    deps = [
+        ":io",
+        ":registration",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_registration_api",
+    size = "small",
+    srcs = [
+        "test/registration/test_registration_api.cpp",
+        "test/registration/test_registration_api_data.h",
+    ],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/bun4.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/bun4.pcd",
+    ],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":registration",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_correspondence_rejectors",
+    size = "small",
+    srcs = ["test/registration/test_correspondence_rejectors.cpp"],
+    args = ["../pcl/test/bunny.pcd"],
+    data = ["test/bunny.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":registration",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_fpcs_ia",
+    size = "small",
+    srcs = [
+        "test/registration/test_fpcs_ia.cpp",
+        "test/registration/test_fpcs_ia_data.h",
+    ],
+    args = [
+        "../pcl/test/bun0.pcd",
+        "../pcl/test/bun4.pcd",
+    ],
+    data = [
+        "test/bun0.pcd",
+        "test/bun4.pcd",
+    ],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":registration",
+        ":search",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "registration_test_kfpcs_ia",
+    size = "small",
+    srcs = [
+        "test/registration/test_kfpcs_ia.cpp",
+        "test/registration/test_kfpcs_ia_data.h",
+    ],
+    args = [
+        "../pcl/test/office1_keypoints.pcd",
+        "../pcl/test/office2_keypoints.pcd",
+    ],
+    data = [
+        "test/office1_keypoints.pcd",
+        "test/office2_keypoints.pcd",
+    ],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":registration",
+        ":search",
+        ":test",
+    ],
+)
+
 ####################################################################################################
 # sample_consensus tests
 ####################################################################################################
+cc_test(
+    name = "sample_consensus_test_sample_consensus_plane_models",
+    size = "small",
+    srcs = ["test/sample_consensus/test_sample_consensus_plane_models.cpp"],
+    args = ["../pcl/test/sac_plane_test.pcd"],
+    data = ["test/sac_plane_test.pcd"],
+    deps = [
+        ":io",
+        ":sample_consensus",
+        ":test",
+    ],
+)
+
 cc_test(
     name = "sample_consensus_test_sample_consensus_quadric_models",
     size = "small",
@@ -1635,26 +2203,57 @@ cc_test(
     ],
 )
 
-####################################################################################################
-# surface tests
-####################################################################################################
-cc_library(
-    name = "surface_test_common",
-    data = ["test/bun0.pcd"],
+cc_test(
+    name = "search_test_search",
+    size = "large",
+    srcs = [
+        "test/search/precise_distances.h",
+        "test/search/test_search.cpp",
+    ],
+    args = ["../pcl/test/table_scene_mug_stereo_textured.pcd"],
+    data = ["test/table_scene_mug_stereo_textured.pcd"],
     deps = [
         ":io",
-        ":surface",
-        ":features",
+        ":kdtree",
+        ":search",
+        ":test",
+    ],
+)
+
+cc_test(
+    name = "search_test_organized_index",
+    size = "small",
+    srcs = [
+        "test/search/precise_distances.h",
+        "test/search/test_organized_index.cpp",
+    ],
+    args = ["../pcl/test/office1.pcd"],
+    data = ["test/office1.pcd"],
+    deps = [
+        ":common",
+        ":io",
+        ":search",
         ":test",
     ],
 )
 
+####################################################################################################
+# surface tests
+####################################################################################################
 cc_test(
     name = "surface_test_marching_cubes",
     size = "large",
     srcs = ["test/surface/test_marching_cubes.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1662,7 +2261,15 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_moving_least_squares.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1670,7 +2277,15 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_gp3.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1678,7 +2293,15 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_organized_fast_mesh.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1686,7 +2309,15 @@ cc_test(
     size = "large",
     srcs = ["test/surface/test_grid_projection.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1694,7 +2325,15 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_ear_clipping.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1702,7 +2341,14 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_poisson.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":io",
+        ":kdtree",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1710,7 +2356,16 @@ cc_test(
     size = "large",
     srcs = ["test/surface/test_convex_hull.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":filters",
+        ":io",
+        ":kdtree",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )
 
 cc_test(
@@ -1718,5 +2373,15 @@ cc_test(
     size = "small",
     srcs = ["test/surface/test_concave_hull.cpp"],
     args = ["../pcl/test/bun0.pcd"],
-    deps = [":surface_test_common"],
+    data = ["test/bun0.pcd"],
+    deps = [
+        ":features",
+        ":filters",
+        ":io",
+        ":kdtree",
+        ":sample_consensus",
+        ":search",
+        ":surface",
+        ":test",
+    ],
 )