Plugin/HesaiLidar/HesaiGeneralPacketInterpreter/vtkHesaiGeneralPacketInterpreter.cxx

@@ -831,7 +831,11 @@ bool vtkHesaiGeneralPacketInterpreter::PreProcessPacket(unsigned char const* dat
         auto specificInformation = std::make_shared<HesaiGeneralSpecificFrameInformation>();
         specificInformation->blockOffset = i;
         this->ParserMetaData.SpecificInformation = specificInformation;
-        frameCatalog->push_back(this->ParserMetaData);
+        if (frameCatalog)
+        {
+          frameCatalog->push_back(this->ParserMetaData);
+        }
+        isNewFrame = true;
       }
     }
     last_azimuth_ = pkt.blocks[i].azimuth;

Plugin/HesaiLidar/vtk.module

 NAME
   HesaiLidar
 DEPENDS
+  LidarView::IOLidar
+  pcl_io
   VTK::CommonColor
   VTK::CommonComputationalGeometry
   VTK::CommonCore
@@ -11,6 +13,6 @@ DEPENDS
   VTK::CommonSystem
   VTK::CommonTransforms
   VTK::InteractionWidgets
-  LidarCore
 PRIVATE_DEPENDS
   VTK::CommonCore
+  VTK::IOInfovis