From 508ecb8e0c550c9473a4e2ef69b87ea6da9271a4 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sun, 29 Mar 2020 05:46:03 +0900
Subject: [PATCH 1/5] index revolution begins

---
 common/include/pcl/PointIndices.h | 11 ++++++-----
 common/include/pcl/pcl_base.h     |  3 ++-
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/common/include/pcl/PointIndices.h b/common/include/pcl/PointIndices.h
index 031699f64bd..2d1273098d8 100644
--- a/common/include/pcl/PointIndices.h
+++ b/common/include/pcl/PointIndices.h
@@ -6,21 +6,22 @@
 
 // Include the correct Header path here
 #include <pcl/PCLHeader.h>
+#include <pcl/types.h>
 
 namespace pcl
 {
   struct PointIndices
   {
+    using Indices = std::vector<index_t>;
+    using Ptr = shared_ptr< ::pcl::PointIndices>;
+    using ConstPtr = shared_ptr<const ::pcl::PointIndices>;
+
     PointIndices ()
     {}
 
     ::pcl::PCLHeader header;
 
-    std::vector<int> indices;
-
-    public:
-      using Ptr = shared_ptr< ::pcl::PointIndices>;
-      using ConstPtr = shared_ptr<const ::pcl::PointIndices>;
+    Indices indices;
   }; // struct PointIndices
 
   using PointIndicesPtr = PointIndices::Ptr;
diff --git a/common/include/pcl/pcl_base.h b/common/include/pcl/pcl_base.h
index e1a51909606..63e7eaf65d6 100644
--- a/common/include/pcl/pcl_base.h
+++ b/common/include/pcl/pcl_base.h
@@ -54,11 +54,12 @@
 #include <pcl/point_cloud.h>
 #include <pcl/PointIndices.h>
 #include <pcl/PCLPointCloud2.h>
+#include <pcl/types.h>
 
 namespace pcl
 {
   // definitions used everywhere
-  using Indices = std::vector<int>;
+  using Indices = PointIndices::Indices;
   using IndicesPtr = shared_ptr<Indices>;
   using IndicesConstPtr = shared_ptr<const Indices>;
 

From 72b5b04228bccc1cb9c175375124faed3ab0fae7 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sun, 29 Mar 2020 09:53:57 +0900
Subject: [PATCH 2/5] Adding debug assert

---
 common/include/pcl/types.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/common/include/pcl/types.h b/common/include/pcl/types.h
index c26e4c6033a..efefa9d99be 100644
--- a/common/include/pcl/types.h
+++ b/common/include/pcl/types.h
@@ -131,5 +131,6 @@ namespace pcl
    * Default index_t = int for PCL 1.11, std::int32_t for PCL >= 1.12
    */
   using index_t = detail::int_type_t<detail::index_type_size, detail::index_type_signed>;
+  static_assert(!std::is_void<index_t>::value, "Index can't be void");
 }  // namespace pcl
 

From 7fa2c879f688d08e217080f27f11f516e8489ae2 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sun, 29 Mar 2020 16:35:00 +0900
Subject: [PATCH 3/5] Found the error

---
 common/include/pcl/types.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/common/include/pcl/types.h b/common/include/pcl/types.h
index efefa9d99be..8ca79681ec0 100644
--- a/common/include/pcl/types.h
+++ b/common/include/pcl/types.h
@@ -63,7 +63,8 @@ namespace pcl
 // Aim is to remove macros and instead allow multiple index types to coexist together
 #ifndef PCL_INDEX_SIZE
 #if PCL_MINOR_VERSION <= 11
-#define PCL_INDEX_SIZE sizeof(int)
+// sizeof returns bytes, while we measure size by bits in the template
+#define PCL_INDEX_SIZE (sizeof(int) * 8)
 #else
 #define PCL_INDEX_SIZE 32
 #endif  // PCL_MINOR_VERSION

From 75482804e0eddb088a1462d3223810f9fdc0c606 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sun, 29 Mar 2020 22:49:41 +0900
Subject: [PATCH 4/5] Slightly better error message

---
 common/include/pcl/types.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/include/pcl/types.h b/common/include/pcl/types.h
index 8ca79681ec0..7143de9114c 100644
--- a/common/include/pcl/types.h
+++ b/common/include/pcl/types.h
@@ -132,6 +132,6 @@ namespace pcl
    * Default index_t = int for PCL 1.11, std::int32_t for PCL >= 1.12
    */
   using index_t = detail::int_type_t<detail::index_type_size, detail::index_type_signed>;
-  static_assert(!std::is_void<index_t>::value, "Index can't be void");
+  static_assert(!std::is_void<index_t>::value, "`index_t` can't have type `void`");
 }  // namespace pcl
 

From e78e0bc32c3ab1a7506e516c192882eceba7370c Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Mon, 30 Mar 2020 01:34:20 +0900
Subject: [PATCH 5/5] Adding Indices to types.h instead

---
 common/include/pcl/PointIndices.h | 1 -
 common/include/pcl/pcl_base.h     | 1 -
 common/include/pcl/types.h        | 9 ++++++++-
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/common/include/pcl/PointIndices.h b/common/include/pcl/PointIndices.h
index 2d1273098d8..2a648aa29ff 100644
--- a/common/include/pcl/PointIndices.h
+++ b/common/include/pcl/PointIndices.h
@@ -12,7 +12,6 @@ namespace pcl
 {
   struct PointIndices
   {
-    using Indices = std::vector<index_t>;
     using Ptr = shared_ptr< ::pcl::PointIndices>;
     using ConstPtr = shared_ptr<const ::pcl::PointIndices>;
 
diff --git a/common/include/pcl/pcl_base.h b/common/include/pcl/pcl_base.h
index 63e7eaf65d6..fdf60116dc2 100644
--- a/common/include/pcl/pcl_base.h
+++ b/common/include/pcl/pcl_base.h
@@ -59,7 +59,6 @@
 namespace pcl
 {
   // definitions used everywhere
-  using Indices = PointIndices::Indices;
   using IndicesPtr = shared_ptr<Indices>;
   using IndicesConstPtr = shared_ptr<const Indices>;
 
diff --git a/common/include/pcl/types.h b/common/include/pcl/types.h
index 7143de9114c..5f83f73ff3a 100644
--- a/common/include/pcl/types.h
+++ b/common/include/pcl/types.h
@@ -45,6 +45,8 @@
 
 #include <pcl/pcl_macros.h>
 
+#include <vector>
+
 #include <cstdint>
 
 namespace pcl
@@ -127,11 +129,16 @@ namespace pcl
 }  // namespace detail
 
   /**
-   * \brief Type used for indices in PCL
+   * \brief Type used for an index in PCL
    *
    * Default index_t = int for PCL 1.11, std::int32_t for PCL >= 1.12
    */
   using index_t = detail::int_type_t<detail::index_type_size, detail::index_type_signed>;
   static_assert(!std::is_void<index_t>::value, "`index_t` can't have type `void`");
+
+  /**
+   * \brief Type used for indices in PCL
+   */
+  using Indices = std::vector<index_t>;
 }  // namespace pcl