diff --git a/filters/include/pcl/filters/box_clipper3D.h b/filters/include/pcl/filters/box_clipper3D.h
index b2ebfa51f78..feade7de860 100644
--- a/filters/include/pcl/filters/box_clipper3D.h
+++ b/filters/include/pcl/filters/box_clipper3D.h
@@ -46,7 +46,8 @@ namespace pcl
   /**
     * \author Suat Gedikli <gedikli@willowgarage.com>
     * \brief Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose.
-    *        The affine transformation is used to transform the point before clipping it using the unit cube centered at origin and with an extend of -1 to +1 in each dimension
+    *        The affine transformation is used to transform the point before clipping it using a cube centered at origin and with an extend of -1 to +1 in each dimension
+    * \sa CropBox
     * \ingroup filters
     */
   template<typename PointT>
@@ -61,7 +62,7 @@ namespace pcl
       /**
         * \author Suat Gedikli <gedikli@willowgarage.com>
         * \brief Constructor taking an affine transformation matrix, which allows also shearing of the clipping area
-        * \param[in] transformation the 3x3 affine transformation matrix that is used to describe the unit cube
+        * \param[in] transformation the 3 dimensional affine transformation that is used to describe the cube ([-1; +1] in each dimension). The transformation is applied to the point(s)!
         */
       BoxClipper3D (const Eigen::Affine3f& transformation);
 
@@ -75,7 +76,7 @@ namespace pcl
 
       /**
         * \brief Set the affine transformation
-        * \param[in] transformation
+        * \param[in] transformation applied to the point(s)
         */
       void setTransformation (const Eigen::Affine3f& transformation);
 
@@ -115,7 +116,7 @@ namespace pcl
       void transformPoint (const PointT& pointIn, PointT& pointOut) const;
     private:
       /**
-        * \brief the affine transformation that is applied before clipping is done on the unit cube.
+        * \brief the affine transformation that is applied before clipping is done on the [-1; +1] cube.
         */
       Eigen::Affine3f transformation_;
 
diff --git a/filters/include/pcl/filters/impl/box_clipper3D.hpp b/filters/include/pcl/filters/impl/box_clipper3D.hpp
index 9ef530eed72..923a3024a43 100644
--- a/filters/include/pcl/filters/impl/box_clipper3D.hpp
+++ b/filters/include/pcl/filters/impl/box_clipper3D.hpp
@@ -41,7 +41,6 @@ template<typename PointT>
 pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Affine3f& transformation)
 : transformation_ (transformation)
 {
-  //inverse_transformation_ = transformation_.inverse ();
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -61,15 +60,13 @@ template<typename PointT> void
 pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Affine3f& transformation)
 {
   transformation_ = transformation;
-  //inverse_transformation_ = transformation_.inverse ();
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT> void
 pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
 {
-  transformation_ = Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (box_size);
-  //inverse_transformation_ = transformation_.inverse ();
+  transformation_ = (Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (0.5f * box_size)).inverse ();
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////