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perf(map): optimize adjacency-aware room color calculation with LUT #972

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perf(map): optimize adjacency-aware room color calculation with LUT #972

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26 changes: 17 additions & 9 deletions roborock/map/room_colors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,23 +23,31 @@ def adjacency_aware_room_colors(
if width <= 0:
return {}

lut = [room_id_from_cell(i) for i in range(256)]
room_ids: set[int] = set()
neighbors: dict[int, set[int]] = {}
for index, value in enumerate(grid):
room_id = room_id_from_cell(value)
room_id = lut[value] if 0 <= value < 256 else room_id_from_cell(value)
if room_id is None:
continue
room_ids.add(room_id)
neighbors.setdefault(room_id, set())

for neighbor_index in (index - 1 if index % width else -1, index - width):
if neighbor_index < 0:
continue
neighbor_id = room_id_from_cell(grid[neighbor_index])
if neighbor_id is None or neighbor_id == room_id:
continue
neighbors[room_id].add(neighbor_id)
neighbors.setdefault(neighbor_id, set()).add(room_id)
if index % width:
left_val = grid[index - 1]
if left_val != value:
neighbor_id = lut[left_val] if 0 <= left_val < 256 else room_id_from_cell(left_val)
if neighbor_id is not None and neighbor_id != room_id:
neighbors[room_id].add(neighbor_id)
neighbors.setdefault(neighbor_id, set()).add(room_id)

if index >= width:
up_val = grid[index - width]
if up_val != value:
neighbor_id = lut[up_val] if 0 <= up_val < 256 else room_id_from_cell(up_val)
if neighbor_id is not None and neighbor_id != room_id:
neighbors[room_id].add(neighbor_id)
neighbors.setdefault(neighbor_id, set()).add(room_id)

candidates: list[Color] = []
for palette_id in map(int, ColorsPalette.ROOM_COLORS):
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