From 5f03e4c392b5eb92bd0e1e10e7504898c91da1f5 Mon Sep 17 00:00:00 2001
From: Hayodea Hekol <hayodea@protonmail.com>
Date: Sun, 9 Nov 2025 12:12:08 -0400
Subject: [PATCH] livoxG1:collateDgrams.cl: Clarify collation offsetting

---
 stimBuffApis/livoxGen1/collateDgrams.cl | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/stimBuffApis/livoxGen1/collateDgrams.cl b/stimBuffApis/livoxGen1/collateDgrams.cl
index 91e6d49..67211d4 100644
--- a/stimBuffApis/livoxGen1/collateDgrams.cl
+++ b/stimBuffApis/livoxGen1/collateDgrams.cl
@@ -37,8 +37,10 @@ __kernel void collate(
 	// Get points array pointer (after 18-byte header)
 	__global uchar* pointsArray = slotStart + 18;
 
-	// Base offset in collation buffer for this slot (in floats, 4 per PointXYZI)
-	uint collationBaseOffset = slotIndex * nPointsPerSlot * 4;
+	// Base offset in collation buffer for this slot (in floats)
+	// Each PointXYZI is 4 floats (x, y, z, intensity)
+	#define FLOATS_PER_POINT 4
+	uint collationBaseOffset = slotIndex * nPointsPerSlot * FLOATS_PER_POINT;
 
 	// Process based on data type using nested ifs (outer) with loops (inner)
 	if (dataType == 0)
@@ -62,7 +64,7 @@ __kernel void collate(
 			float intensity = (float)reflectivity;
 
 			// Write to collation buffer
-			uint offset = collationBaseOffset + (i * 4);
+			uint offset = collationBaseOffset + (i * FLOATS_PER_POINT);
 			collation[offset + 0] = x;
 			collation[offset + 1] = y;
 			collation[offset + 2] = z;
@@ -91,7 +93,7 @@ __kernel void collate(
 			float intensity = (float)reflectivity;
 
 			// Write to collation buffer
-			uint offset = collationBaseOffset + (i * 4);
+			uint offset = collationBaseOffset + (i * FLOATS_PER_POINT);
 			collation[offset + 0] = x;
 			collation[offset + 1] = y;
 			collation[offset + 2] = z;
@@ -122,7 +124,8 @@ __kernel void collate(
 			float z1 = (float)z1_mm / 1000.0f;
 			float intensity1 = (float)reflectivity1;
 
-			uint offset1 = collationBaseOffset + (pointIndex * 4);
+			uint offset1 = collationBaseOffset
+				+ (pointIndex * FLOATS_PER_POINT);
 			collation[offset1 + 0] = x1;
 			collation[offset1 + 1] = y1;
 			collation[offset1 + 2] = z1;
@@ -141,7 +144,8 @@ __kernel void collate(
 			float z2 = (float)z2_mm / 1000.0f;
 			float intensity2 = (float)reflectivity2;
 
-			uint offset2 = collationBaseOffset + (pointIndex * 4);
+			uint offset2 = collationBaseOffset
+				+ (pointIndex * FLOATS_PER_POINT);
 			collation[offset2 + 0] = x2;
 			collation[offset2 + 1] = y2;
 			collation[offset2 + 2] = z2;
@@ -173,7 +177,8 @@ __kernel void collate(
 			float z1 = (float)z1_mm / 1000.0f;
 			float intensity1 = (float)reflectivity1;
 
-			uint offset1 = collationBaseOffset + (pointIndex * 4);
+			uint offset1 = collationBaseOffset
+				+ (pointIndex * FLOATS_PER_POINT);
 			collation[offset1 + 0] = x1;
 			collation[offset1 + 1] = y1;
 			collation[offset1 + 2] = z1;
@@ -192,7 +197,8 @@ __kernel void collate(
 			float z2 = (float)z2_mm / 1000.0f;
 			float intensity2 = (float)reflectivity2;
 
-			uint offset2 = collationBaseOffset + (pointIndex * 4);
+			uint offset2 = collationBaseOffset
+				+ (pointIndex * FLOATS_PER_POINT);
 			collation[offset2 + 0] = x2;
 			collation[offset2 + 1] = y2;
 			collation[offset2 + 2] = z2;
@@ -211,7 +217,8 @@ __kernel void collate(
 			float z3 = (float)z3_mm / 1000.0f;
 			float intensity3 = (float)reflectivity3;
 
-			uint offset3 = collationBaseOffset + (pointIndex * 4);
+			uint offset3 = collationBaseOffset
+				+ (pointIndex * FLOATS_PER_POINT);
 			collation[offset3 + 0] = x3;
 			collation[offset3 + 1] = y3;
 			collation[offset3 + 2] = z3;