diff --git a/filters/src/radius_outlier_removal.cpp b/filters/src/radius_outlier_removal.cpp
index 0cd628bc9ca..600d1cc37da 100644
--- a/filters/src/radius_outlier_removal.cpp
+++ b/filters/src/radius_outlier_removal.cpp
@@ -106,9 +106,10 @@ pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &out
   {
     //if(cp%log_step == 0)
     //  PCL_DEBUG ("[pcl::%s::applyFilter] Iteration %i of %lu\n", getClassName ().c_str (), cp, indices_->size());
-    int k = searcher_->radiusSearch ((*indices_)[cp], search_radius_, nn_indices, nn_dists);
+    int k = searcher_->radiusSearch(
+        (*indices_)[cp], search_radius_, nn_indices, nn_dists, min_pts_radius_ + 1);
     // Check if the number of neighbors is larger than the user imposed limit
-    if (k < min_pts_radius_)
+    if (k <= min_pts_radius_)
     {
       if (extract_removed_indices_)
       {
@@ -215,7 +216,8 @@ pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2>::applyFilter (Indices &indices)
     {
       // Perform the radius search
       // Note: k includes the query point, so is always at least 1
-      int k = searcher_->radiusSearch (idx, search_radius_, nn_indices, nn_dists);
+      int k = searcher_->radiusSearch(
+          idx, search_radius_, nn_indices, nn_dists, min_pts_radius_ + 1);
 
       // Points having too few neighbors are outliers and are passed to removed indices
       // Unless negative was set, then it's the opposite condition
diff --git a/test/filters/test_filters.cpp b/test/filters/test_filters.cpp
index ed02e96c695..17de73e483d 100644
--- a/test/filters/test_filters.cpp
+++ b/test/filters/test_filters.cpp
@@ -1585,7 +1585,7 @@ TEST (RadiusOutlierRemoval, Filters)
   RadiusOutlierRemoval<PCLPointCloud2> outrem2;
   outrem2.setInputCloud (cloud_blob);
   outrem2.setRadiusSearch (0.02);
-  outrem2.setMinNeighborsInRadius (15);
+  outrem2.setMinNeighborsInRadius (14);
   outrem2.filter (cloud_out2);
 
   fromPCLPointCloud2 (cloud_out2, cloud_out);
@@ -1616,7 +1616,7 @@ TEST (RadiusOutlierRemoval, Filters)
   RadiusOutlierRemoval<PCLPointCloud2> outrem2_(true);
   outrem2_.setInputCloud (cloud_blob);
   outrem2_.setRadiusSearch (0.02);
-  outrem2_.setMinNeighborsInRadius (15);
+  outrem2_.setMinNeighborsInRadius (14);
   outrem2_.filter (cloud_out2);
 
   fromPCLPointCloud2 (cloud_out2, cloud_out);
@@ -2579,6 +2579,49 @@ TEST (VoxelGridOcclusionEstimation, Filters)
   }
 }
 
+/////////////////////////////////////////////////
+TEST(RadiusOutlierRemovalPCLPointCloud2, Filters)
+{
+  // Test for the issue #2816. Both implementations must be true
+  PointCloud<PointXYZ>::Ptr pc_in(new PointCloud<PointXYZ>);
+  pc_in->push_back(PointXYZ(1.f, 0.f, 0.f));
+  pc_in->push_back(PointXYZ(2.f, 0.f, 0.f));
+  pc_in->push_back(PointXYZ(3.f, 0.f, 0.f));
+
+  PCLPointCloud2::Ptr pc2_in(new PCLPointCloud2);
+  toPCLPointCloud2(*pc_in, *pc2_in);
+
+  // Template implementation
+  {
+    RadiusOutlierRemoval<PointXYZ> filter;
+    filter.setInputCloud(pc_in);
+    filter.setRadiusSearch(1.1);
+    filter.setMinNeighborsInRadius(2);
+    PointCloud<PointXYZ> pc_out;
+    filter.filter(pc_out);
+    ASSERT_EQ(pc_out.size(), 1);
+    EXPECT_NEAR(pc_out[0].x, 2.f, 1e-4f);
+    EXPECT_NEAR(pc_out[0].y, 0.f, 1e-4f);
+    EXPECT_NEAR(pc_out[0].z, 0.f, 1e-4f);
+  }
+
+  // PCLPointCloud2 implementation should give the same result
+  {
+    RadiusOutlierRemoval<PCLPointCloud2> filter;
+    filter.setInputCloud(pc2_in);
+    filter.setRadiusSearch(1.1);
+    filter.setMinNeighborsInRadius(2);
+    PCLPointCloud2 pc2_out;
+    filter.filter(pc2_out);
+    PointCloud<PointXYZ> pc_out;
+    fromPCLPointCloud2(pc2_out, pc_out);
+    ASSERT_EQ(pc_out.size(), 1);
+    EXPECT_NEAR(pc_out[0].x, 2.f, 1e-4f);
+    EXPECT_NEAR(pc_out[0].y, 0.f, 1e-4f);
+    EXPECT_NEAR(pc_out[0].z, 0.f, 1e-4f);
+  }
+}
+
 /* ---[ */
 int
 main (int argc, char** argv)