49 if (extract_removed_clusters_)
51 small_clusters_->clear ();
52 large_clusters_->clear ();
56 if (!initCompute () || input_->points.empty () || indices_->empty () || !condition_function_)
62 if (input_->isOrganized ())
67 searcher_->setInputCloud (input_, indices_);
75 std::vector<bool>
processed (input_->size (),
false);
78 for (
const auto&
iindex : (*indices_))
121 if (extract_removed_clusters_ ||
126 pi.
header = input_->header;
131 if (extract_removed_clusters_ &&
static_cast<int> (
current_cluster.
size ()) < min_cluster_size_)
132 small_clusters_->push_back (pi);
133 else if (extract_removed_clusters_ &&
static_cast<int> (
current_cluster.
size ()) > max_cluster_size_)
134 large_clusters_->push_back (pi);