Hi, I want to model parameters for LiDAR sensor, and RGB-D Camera (ZED). Through their data sheet I have acquired parameters, but the proximity sensor parameters are based on radial distance and sensing distance. Is there anyway I can work with it?

Here is the data that I am trying to covert for one of the proximity sensor. These are essentially input data that the sensor is sending to the system. This is being used to detect obstacle via mobile robot. The process I am trying to approach is using two proximity sensor (each for LiDAR and Stereoscopic Camera) and use the raw data to model the system. These proximity sensors will go through square wave, and error signal, which will then be fused with Kalman filter to scope the signal. I am having trouble characterizing the parameters. Any suggestions?