The classic Bayer or ‘dispersed-dot’ pattern arranges threshold values in an attempt to optimise information transfer and minimise noise[7]. The matrix dimensions are typically a power of two. The following values describe an 8×8 matrix:
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relative_diff = abs(actual_int - estimate_int) / max(actual_int, estimate_int)
The MAC is in the header because the controller needs to identify the device before decrypting. Encryption keys are per-device, assigned during adoption, so the controller has to know which device is talking before it can look up the right key. Not a security oversight, just a practical requirement. But it means you can route inform traffic without touching the encryption at all.