perf: unblock large PointCloud2 playback; v1.7.2#25
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Move parsing off the main thread, reuse GPU buffers, and enlarge the SAB ring so multi-MB point clouds no longer fall back to structured clone.
Copy SharedArrayBuffer payloads into plain ArrayBuffers before worker transfer, drop non-finite points, map optical frames to ROS Z-up, and autofit the camera so depth clouds match the color image orientation.
Size attributes to width*height and draw with setDrawRange so fluctuating valid-point counts no longer rebuild geometry. Apply optical→ROS only for optical/depth topics, drop non-positive optical depth, and keep the parse worker stable via camera/controls refs.
Report all cached playable time ranges instead of only a contiguous prefix from file start, so mid-file cache no longer collapses the UI bar.
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Summary
setDrawRange), and optical→ROS frame heuristic with depth turbo coloring.1.7.2.Test plan
npx vitest run src/infra/workers/playableTimeRanges.test.ts(+ related cache tests)?url=/examples/orbbec_pc_30s_...