I would like to use NearFilter.cpp for my LiDAR

[nyxrobotics]

Can you tell me how to measure and derive the following variables?
https://github.com/Hume2/Laser-shadow-filter-improved/blob/dc6cbb4afb4d088dac1069abd7796ad096338d25/nifti_laser_filtering/src/NearFilter.cpp#L17-L38

[peci1]

You can get inspired in https://github.com/Hume2/Laser-shadow-filter-improved/blob/dc6cbb4afb4d088dac1069abd7796ad096338d25/nifti_laser_filtering/scripts/calibrate_lms_undistortion.m , but this procedure is really baked for a specific use-case with the NIFTi robot...