diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h
index 93202b78c7e..80d116dd597 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h
@@ -95,8 +95,9 @@ namespace pcl
 
 
       bool use_cache_;
-      std::map<std::pair<std::string, int>, Eigen::Matrix4f, std::less<std::pair<std::string, int> >, Eigen::aligned_allocator<std::pair<std::pair<
-          std::string, int>, Eigen::Matrix4f> > > poses_cache_;
+      std::map<std::pair<std::string, int>, Eigen::Matrix4f,
+               std::less<std::pair<std::string, int> >,
+               Eigen::aligned_allocator<std::pair<const std::pair<std::string, int>, Eigen::Matrix4f> > > poses_cache_;
       std::map<std::pair<std::string, int>, Eigen::Vector3f > centroids_cache_;
 
       std::vector<int> indices_;
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h
index 5f070047bc3..ddf26ad2b90 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h
@@ -138,8 +138,9 @@ namespace pcl
         bool use_single_categories_;
 
         bool use_cache_;
-        std::map<std::pair<std::string, int>, Eigen::Matrix4f, std::less<std::pair<std::string, int> >, Eigen::aligned_allocator<std::pair<std::pair<
-            std::string, int>, Eigen::Matrix4f> > > poses_cache_;
+        std::map<std::pair<std::string, int>, Eigen::Matrix4f,
+                 std::less<std::pair<std::string, int> >,
+                 Eigen::aligned_allocator<std::pair<const std::pair<std::string, int>, Eigen::Matrix4f> > > poses_cache_;
         std::map<std::pair<std::string, int>, Eigen::Vector3f> centroids_cache_;
 
         std::vector<int> indices_;
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp
index 84a9ace8284..d296e985ccc 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp
@@ -22,8 +22,9 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       typedef std::pair<std::string, int> mv_pair;
       mv_pair pair_model_view = std::make_pair (model.id_, view_id);
 
-      std::map<mv_pair, Eigen::Matrix4f, std::less<mv_pair>, Eigen::aligned_allocator<std::pair<mv_pair, Eigen::Matrix4f> > >::iterator it =
-          poses_cache_.find (pair_model_view);
+      std::map<mv_pair, Eigen::Matrix4f,
+               std::less<mv_pair>,
+               Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f> > >::iterator it = poses_cache_.find (pair_model_view);
 
       if (it != poses_cache_.end ())
       {
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp
index 95092d66507..f0d93b465db 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp
@@ -22,8 +22,9 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       typedef std::pair<std::string, int> mv_pair;
       mv_pair pair_model_view = std::make_pair (model.id_, view_id);
 
-      std::map<mv_pair, Eigen::Matrix4f, std::less<mv_pair>, Eigen::aligned_allocator<std::pair<mv_pair, Eigen::Matrix4f> > >::iterator it =
-          poses_cache_.find (pair_model_view);
+      std::map<mv_pair, Eigen::Matrix4f,
+               std::less<mv_pair>,
+               Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f> > >::iterator it = poses_cache_.find (pair_model_view);
 
       if (it != poses_cache_.end ())
       {
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp
index 77854bf425a..3ccc4a6fffa 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp
@@ -463,8 +463,9 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       typedef std::pair<std::string, int> mv_pair;
       mv_pair pair_model_view = std::make_pair (model.id_, view_id);
 
-      std::map<mv_pair, Eigen::Matrix4f, std::less<mv_pair>, Eigen::aligned_allocator<std::pair<mv_pair, Eigen::Matrix4f> > >::iterator it =
-          poses_cache_.find (pair_model_view);
+      std::map<mv_pair, Eigen::Matrix4f,
+               std::less<mv_pair>,
+               Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f> > >::iterator it = poses_cache_.find (pair_model_view);
 
       if (it != poses_cache_.end ())
       {
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h
index eeb6b65ea37..0b55f2512ad 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h
+++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h
@@ -88,8 +88,9 @@ namespace pcl
         std::vector<int> indices_;
 
         bool use_cache_;
-        std::map<std::pair<std::string, int>, Eigen::Matrix4f, std::less<std::pair<std::string, int> >, Eigen::aligned_allocator<std::pair<std::pair<
-            std::string, int>, Eigen::Matrix4f> > > poses_cache_;
+        std::map<std::pair<std::string, int>, Eigen::Matrix4f,
+                 std::less<std::pair<std::string, int> >,
+                 Eigen::aligned_allocator<std::pair<const std::pair<std::string, int>, Eigen::Matrix4f> > > poses_cache_;
         std::map<std::pair<std::string, int>, typename pcl::PointCloud<PointInT>::Ptr> keypoints_cache_;
 
         float threshold_accept_model_hypothesis_;