51 if (search_radius_ == 0.0)
53 PCL_ERROR (
"[pcl::%s::applyFilter] No radius defined!\n", getClassName ().
c_str ());
55 removed_indices_->clear ();
62 if (input_->isOrganized ())
67 searcher_->setInputCloud (input_);
71 std::vector<float>
nn_dists (indices_->size ());
72 indices.resize (indices_->size ());
73 removed_indices_->resize (indices_->size ());
80 int mean_k = min_pts_radius_ + 1;
83 for (
const auto& index : (*indices_))
122 if (extract_removed_indices_)
123 (*removed_indices_)[
rii++] = index;
128 indices[
oii++] = index;
134 for (
const auto& index : (*indices_))
142 if ((!negative_ && k <= min_pts_radius_) || (negative_ && k > min_pts_radius_))
144 if (extract_removed_indices_)
145 (*removed_indices_)[
rii++] = index;
150 indices[
oii++] = index;
155 indices.resize (
oii);
156 removed_indices_->resize (
rii);