#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/io/vtk_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/histogram_visualizer.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_pointcloud_voxelcentroid.h>


#ifndef USE_OCTREE
#define USE_OCTREE 1  //Boolean indicating if using octree map (1) or DEM (0)
#endif				// TODO: include in PointMassFilter and modified weighting PF

#ifndef OCTREE_RESOLUTION
#define OCTREE_RESOLUTION 4.0f
#endif

