How to get the height and pitch compensation matrix？

[Liu2022]

Thank you for your great work!
I want to apply the same way of creating range image with my own data.
Therefore, I wonder how to get the height and pitch compensation matrix, just like below.
self.height = np.array([-0.00216031, -0.00098729, -0.00020528, 0.00174976, 0.0044868 , -0.00294233,
-0.00059629, -0.00020528, 0.00174976, -0.00294233, -0.0013783 , 0.00018573,
0.00253177, -0.00098729, 0.00018573, 0.00096774, -0.00411535, -0.0013783,
0.00018573, 0.00018573, -0.00294233, -0.0013783 , -0.00098729, -0.00020528,
0.00018573, 0.00018573, 0.00018573, -0.00020528, 0.00018573, 0.00018573,
0.00018573, 0.00018573,], dtype=np.float32)
self.zenith = np.array([ 1.86705767e-01, 1.63245357e-01, 1.39784946e-01, 1.16324536e-01,
9.28641251e-02, 7.01857283e-02, 4.67253177e-02, 2.32649071e-02,
-1.95503421e-04, -2.28739003e-02, -4.63343109e-02, -6.97947214e-02,
-9.32551320e-02, -1.15933529e-01, -1.39393939e-01, -1.62854350e-01,
-1.85532747e-01, -2.08993157e-01, -2.32453568e-01, -2.55913978e-01,
-2.78592375e-01, -3.02052786e-01, -3.25513196e-01, -3.48973607e-01,
-3.72434018e-01, -3.95894428e-01, -4.19354839e-01, -4.42033236e-01,
-4.65493646e-01, -4.88954057e-01, -5.12414467e-01, -5.35874878e-01,], dtype=np.float32)

[suchetan-github]

Is this what you are looking for?