def __init__(self, width, height, ego_centric, engine, *, cuda=False):
        """
        If ego_centric is True, the point cloud will be in the camera's ego coordinate system.
        """
        if cuda:
            raise ValueError("LiDAR does not support CUDA acceleration for now. Ask for support if you need it.")
        super(PointCloudLidar, self).__init__(width, height, engine, cuda=False)
        self.ego_centric = ego_centric

        If ego_centric is True, the point cloud will be in the camera's ego coordinate system.
        
metadrive/component/sensors/point_cloud_lidar.py