How to add support for Hesai lidars

[melonedo]

Thank you for providing such an excellent project for multi-sensor calibration!
However, I only have Hesai lidars at the moment so I can not try it out on real sensors. Do you have any suggestions on porting it to Hesai lidars? For example, could you note the difference between the three lidar brands?

[Clothooo]

Which type of Hesai Lidar do you use? You can simply identify it as non-repetitive scanning LiDAR or repetitive scanning LiDAR. Then you can apply our algorithm to your LiDAR referring to the table attached in the appendix of README.
As for our method, there is no difference between different lidar brands but between different lidar types, non-repetitive scanning and repetitive scanning.