diff --git a/ROS/gesture_based_control/src/math.hpp b/ROS/gesture_based_control/src/math.hpp
new file mode 120000
index 0000000..64b24f7
--- /dev/null
+++ b/ROS/gesture_based_control/src/math.hpp
@@ -0,0 +1 @@
+/home/guillaume/Documents/3A_supelec/miniprojet/tests/src/math.hpp
\ No newline at end of file
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diff --git a/rapport/images/test-filter/raw_image.png b/rapport/images/test-filter/raw_image.png
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diff --git a/tests/examples/test-contour.cpp b/tests/examples/test-contour.cpp
new file mode 100644
index 0000000..1af85fe
--- /dev/null
+++ b/tests/examples/test-contour.cpp
@@ -0,0 +1,44 @@
+#include <math.hpp>
+
+int main(int argc, char** argv) {
+  std::string imagename = "";
+  int threshold = 25;
+  std::string save_path = ".";
+
+  if (argc > 3) {
+    imagename = argv[1];
+    threshold = atoi(argv[2]);
+    save_path = argv[3];
+  } else {
+    std::cout << "Invalid number of arguments: test-descripteurs <path_to_image> [<threshold>]" << std::endl;
+    return 0;
+  } 
+
+  cv::namedWindow("Image", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Contour", CV_WINDOW_AUTOSIZE);
+
+  cv::Mat image = cv::imread(imagename, CV_LOAD_IMAGE_COLOR);
+  cv::Mat binary(image.rows, image.cols, CV_8UC1);
+  cv::Mat contour(image.rows, image.cols, CV_8UC1);
+
+  cv::GaussianBlur(image, image, cv::Size(7,7), 1.5, 1.5);
+  math::filter(image, binary, threshold);
+
+  std::vector<std::vector<cv::Point>> contours;
+  std::vector<cv::Vec4i> hierarchy;
+  cv::findContours(binary, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+
+  if (contours.size() != 0) {
+    int id = math::max_cont(contours);
+    cv::drawContours(contour, contours, id, 255, 4);
+  }
+
+  cv::imshow("Image", image);
+  cv::imshow("Contour", contour);
+
+  cv::imwrite(save_path+"/raw_image.png", image);
+  cv::imwrite(save_path+"/contour_"+std::to_string(threshold)+".png", contour);
+
+  cv::waitKey(0);
+  return 0;
+}
diff --git a/tests/examples/test-filter.cpp b/tests/examples/test-filter.cpp
new file mode 100644
index 0000000..c4add31
--- /dev/null
+++ b/tests/examples/test-filter.cpp
@@ -0,0 +1,34 @@
+#include <math.hpp>
+
+int main(int argc, char** argv) {
+  std::string imagename = "";
+  int threshold = 25;
+  std::string save_path = ".";
+
+  if (argc > 3) {
+    imagename = argv[1];
+    threshold = atoi(argv[2]);
+    save_path = argv[3];
+  } else {
+    std::cout << "Invalid number of arguments: test-descripteurs <path_to_image> [<threshold>]" << std::endl;
+    return 0;
+  } 
+
+  cv::namedWindow("Image", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Binary", CV_WINDOW_AUTOSIZE);
+
+  cv::Mat image = cv::imread(imagename, CV_LOAD_IMAGE_COLOR);
+  cv::Mat binary(image.rows, image.cols, CV_8UC1);
+
+  cv::GaussianBlur(image, image, cv::Size(7,7), 1.5, 1.5);
+  math::filter(image, binary, threshold);
+
+  cv::imshow("Image", image);
+  cv::imshow("Binary", binary);
+
+  cv::imwrite(save_path+"/raw_image.png", image);
+  cv::imwrite(save_path+"/binary_"+std::to_string(threshold)+".png", binary);
+
+  cv::waitKey(0);
+  return 0;
+}
diff --git a/tests/src/CMakeLists.txt b/tests/src/CMakeLists.txt
index 73854df..80aaa9f 100644
--- a/tests/src/CMakeLists.txt
+++ b/tests/src/CMakeLists.txt
@@ -5,3 +5,6 @@ find_package(Boost COMPONENTS system filesystem REQUIRED)
 
 add_executable(knn knn.cpp)
 target_link_libraries(knn ${OpenCV_LIBS} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY})
+
+add_executable(neural_network neural_network.cpp)
+target_link_libraries(neural_network ${OpenCV_LIBS} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY})
diff --git a/tests/src/neural_network.cpp b/tests/src/neural_network.cpp
new file mode 100644
index 0000000..7f43564
--- /dev/null
+++ b/tests/src/neural_network.cpp
@@ -0,0 +1,5 @@
+#include "math.hpp"
+
+int main(int argc, char** argv) {
+  return 0;
+}