question related to construction of the range image from lidar pointcloud

[xmba15]

Hi, thank you for the project. I have a question related to the construction of range image from livox lidar pointcloud here.
As I see in the code base, the range image has been created using pcl's createFromPointCloudWithFixedSize.

https://github.com/ISEE-Technology/CamVox/blob/main/isee-preprocessing/src/isee_synchronize.cpp#L335-L344
however, the width, height, camera matrix has been hardcoded here. Can you please elaborate about the choice of these values? Is this actually the parameters of the camera used in the experiment?