diff --git a/stimBuffApis/livoxGen1/collateDgrams.cl b/stimBuffApis/livoxGen1/collateDgrams.cl
index ae85b2f..91e6d49 100644
--- a/stimBuffApis/livoxGen1/collateDgrams.cl
+++ b/stimBuffApis/livoxGen1/collateDgrams.cl
@@ -1,3 +1,18 @@
+// Helper function to read a little-endian int32 from unaligned memory
+inline int readInt32LE(__global uchar* ptr)
+{
+	// Read 4 bytes in little-endian order and assemble into int
+	// Handle sign extension correctly for signed int
+	int b0 = (int)ptr[0];
+	int b1 = (int)ptr[1];
+	int b2 = (int)ptr[2];
+	int b3 = (int)ptr[3];
+
+	// Assemble little-endian: b0 is LSB, b3 is MSB
+	int value = b0 | (b1 << 8) | (b2 << 16) | (b3 << 24);
+	return value;
+}
+
 __kernel void collate(
 	__global uchar* assembly,
 	__global float* collation,
@@ -10,10 +25,7 @@ __kernel void collate(
 	uint slotIndex = get_global_id(0);
 
 	// Bounds check
-	if (slotIndex >= nDgramsPerFrame)
-	{
-		return;
-	}
+	if (slotIndex >= nDgramsPerFrame) { return; }
 
 	// Calculate slot address
 	__global uchar* slotStart = assembly + firstSlotOffset
@@ -37,10 +49,10 @@ __kernel void collate(
 		{
 			__global uchar* pointPtr = pointsArray + (i * 13);
 
-			// Read int coordinates (little-endian)
-			int x_mm = *((__global int*)(pointPtr + 0));
-			int y_mm = *((__global int*)(pointPtr + 4));
-			int z_mm = *((__global int*)(pointPtr + 8));
+			// Read int coordinates (little-endian, unaligned-safe)
+			int x_mm = readInt32LE(pointPtr + 0);
+			int y_mm = readInt32LE(pointPtr + 4);
+			int z_mm = readInt32LE(pointPtr + 8);
 			uchar reflectivity = pointPtr[12];
 
 			// Convert to PointXYZI (meters, float)
@@ -65,10 +77,10 @@ __kernel void collate(
 		{
 			__global uchar* pointPtr = pointsArray + (i * 14);
 
-			// Read int coordinates (little-endian)
-			int x_mm = *((__global int*)(pointPtr + 0));
-			int y_mm = *((__global int*)(pointPtr + 4));
-			int z_mm = *((__global int*)(pointPtr + 8));
+			// Read int coordinates (little-endian, unaligned-safe)
+			int x_mm = readInt32LE(pointPtr + 0);
+			int y_mm = readInt32LE(pointPtr + 4);
+			int z_mm = readInt32LE(pointPtr + 8);
 			uchar reflectivity = pointPtr[12];
 			// tag at offset 13 is ignored
 
@@ -99,9 +111,9 @@ __kernel void collate(
 			__global uchar* samplePtr = pointsArray + (i * 28);
 
 			// Process first point
-			int x1_mm = *((__global int*)(samplePtr + 0));
-			int y1_mm = *((__global int*)(samplePtr + 4));
-			int z1_mm = *((__global int*)(samplePtr + 8));
+			int x1_mm = readInt32LE(samplePtr + 0);
+			int y1_mm = readInt32LE(samplePtr + 4);
+			int z1_mm = readInt32LE(samplePtr + 8);
 			uchar reflectivity1 = samplePtr[12];
 			// tag1 at offset 13 is ignored
 
@@ -118,9 +130,9 @@ __kernel void collate(
 			++pointIndex;
 
 			// Process second point
-			int x2_mm = *((__global int*)(samplePtr + 14));
-			int y2_mm = *((__global int*)(samplePtr + 18));
-			int z2_mm = *((__global int*)(samplePtr + 22));
+			int x2_mm = readInt32LE(samplePtr + 14);
+			int y2_mm = readInt32LE(samplePtr + 18);
+			int z2_mm = readInt32LE(samplePtr + 22);
 			uchar reflectivity2 = samplePtr[26];
 			// tag2 at offset 27 is ignored
 
@@ -150,9 +162,9 @@ __kernel void collate(
 			__global uchar* samplePtr = pointsArray + (i * 42);
 
 			// Process first point
-			int x1_mm = *((__global int*)(samplePtr + 0));
-			int y1_mm = *((__global int*)(samplePtr + 4));
-			int z1_mm = *((__global int*)(samplePtr + 8));
+			int x1_mm = readInt32LE(samplePtr + 0);
+			int y1_mm = readInt32LE(samplePtr + 4);
+			int z1_mm = readInt32LE(samplePtr + 8);
 			uchar reflectivity1 = samplePtr[12];
 			// tag1 at offset 13 is ignored
 
@@ -169,9 +181,9 @@ __kernel void collate(
 			++pointIndex;
 
 			// Process second point
-			int x2_mm = *((__global int*)(samplePtr + 14));
-			int y2_mm = *((__global int*)(samplePtr + 18));
-			int z2_mm = *((__global int*)(samplePtr + 22));
+			int x2_mm = readInt32LE(samplePtr + 14);
+			int y2_mm = readInt32LE(samplePtr + 18);
+			int z2_mm = readInt32LE(samplePtr + 22);
 			uchar reflectivity2 = samplePtr[26];
 			// tag2 at offset 27 is ignored
 
@@ -188,9 +200,9 @@ __kernel void collate(
 			++pointIndex;
 
 			// Process third point
-			int x3_mm = *((__global int*)(samplePtr + 28));
-			int y3_mm = *((__global int*)(samplePtr + 32));
-			int z3_mm = *((__global int*)(samplePtr + 36));
+			int x3_mm = readInt32LE(samplePtr + 28);
+			int y3_mm = readInt32LE(samplePtr + 32);
+			int z3_mm = readInt32LE(samplePtr + 36);
 			uchar reflectivity3 = samplePtr[40];
 			// tag3 at offset 41 is ignored