diff --git a/filters/include/pcl/filters/impl/crop_box.hpp b/filters/include/pcl/filters/impl/crop_box.hpp
index a6dd9848aef..49c0404454f 100644
--- a/filters/include/pcl/filters/impl/crop_box.hpp
+++ b/filters/include/pcl/filters/impl/crop_box.hpp
@@ -90,10 +90,6 @@ pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices)
     inverse_transform = transform.inverse ();
   }
 
-  bool transform_matrix_is_identity = transform_.matrix ().isIdentity ();
-  bool translation_is_zero = (translation_ != Eigen::Vector3f::Zero ());
-  bool inverse_transform_matrix_is_identity = inverse_transform.matrix ().isIdentity ();
-
   for (size_t index = 0; index < indices_->size (); ++index)
   {
     if (!input_->is_dense)
@@ -105,10 +101,10 @@ pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices)
     PointT local_pt = input_->points[(*indices_)[index]];
 
     // Transform point to world space
-    if (!transform_matrix_is_identity)
+    if (!transform_.matrix ().isIdentity ())
       local_pt = pcl::transformPoint<PointT> (local_pt, transform_);
 
-    if (translation_is_zero)
+    if (translation_ != Eigen::Vector3f::Zero ())
     {
       local_pt.x -= translation_ (0);
       local_pt.y -= translation_ (1);
@@ -116,7 +112,7 @@ pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices)
     }
 
     // Transform point to local space of crop box
-    if (!inverse_transform_matrix_is_identity)
+    if (!inverse_transform.matrix ().isIdentity ())
       local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform);
 
     // If outside the cropbox