valetudo-map-parser 0.1.8__py3-none-any.whl → 0.1.9a2__py3-none-any.whl

valetudo_map_parser/config/colors.py

@@ -3,12 +3,141 @@
 from __future__ import annotations
 
 from enum import StrEnum
-from typing import List, Dict, Tuple
-import logging
+from typing import Dict, List, Tuple
 
-_LOGGER = logging.getLogger(__name__)
+import numpy as np
+from scipy import ndimage
 
-Color = Tuple[int, int, int, int]  # RGBA color definition
+from .types import (
+    ALPHA_BACKGROUND,
+    ALPHA_CHARGER,
+    ALPHA_GO_TO,
+    ALPHA_MOVE,
+    ALPHA_NO_GO,
+    ALPHA_ROBOT,
+    ALPHA_ROOM_0,
+    ALPHA_ROOM_1,
+    ALPHA_ROOM_2,
+    ALPHA_ROOM_3,
+    ALPHA_ROOM_4,
+    ALPHA_ROOM_5,
+    ALPHA_ROOM_6,
+    ALPHA_ROOM_7,
+    ALPHA_ROOM_8,
+    ALPHA_ROOM_9,
+    ALPHA_ROOM_10,
+    ALPHA_ROOM_11,
+    ALPHA_ROOM_12,
+    ALPHA_ROOM_13,
+    ALPHA_ROOM_14,
+    ALPHA_ROOM_15,
+    ALPHA_TEXT,
+    ALPHA_WALL,
+    ALPHA_ZONE_CLEAN,
+    COLOR_BACKGROUND,
+    COLOR_CHARGER,
+    COLOR_GO_TO,
+    COLOR_MOVE,
+    COLOR_NO_GO,
+    COLOR_ROBOT,
+    COLOR_ROOM_0,
+    COLOR_ROOM_1,
+    COLOR_ROOM_2,
+    COLOR_ROOM_3,
+    COLOR_ROOM_4,
+    COLOR_ROOM_5,
+    COLOR_ROOM_6,
+    COLOR_ROOM_7,
+    COLOR_ROOM_8,
+    COLOR_ROOM_9,
+    COLOR_ROOM_10,
+    COLOR_ROOM_11,
+    COLOR_ROOM_12,
+    COLOR_ROOM_13,
+    COLOR_ROOM_14,
+    COLOR_ROOM_15,
+    COLOR_TEXT,
+    COLOR_WALL,
+    COLOR_ZONE_CLEAN,
+    LOGGER,
+    Color,
+)
+
+
+color_transparent = (0, 0, 0, 0)
+color_charger = (0, 128, 0, 255)
+color_move = (238, 247, 255, 255)
+color_robot = (255, 255, 204, 255)
+color_no_go = (255, 0, 0, 255)
+color_go_to = (0, 255, 0, 255)
+color_background = (0, 125, 255, 255)
+color_zone_clean = (255, 255, 255, 125)
+color_wall = (255, 255, 0, 255)
+color_text = (255, 255, 255, 255)
+color_grey = (125, 125, 125, 255)
+color_black = (0, 0, 0, 255)
+color_room_0 = (135, 206, 250, 255)
+color_room_1 = (176, 226, 255, 255)
+color_room_2 = (164, 211, 238, 255)
+color_room_3 = (141, 182, 205, 255)
+color_room_4 = (96, 123, 139, 255)
+color_room_5 = (224, 255, 255, 255)
+color_room_6 = (209, 238, 238, 255)
+color_room_7 = (180, 205, 205, 255)
+color_room_8 = (122, 139, 139, 255)
+color_room_9 = (175, 238, 238, 255)
+color_room_10 = (84, 153, 199, 255)
+color_room_11 = (133, 193, 233, 255)
+color_room_12 = (245, 176, 65, 255)
+color_room_13 = (82, 190, 128, 255)
+color_room_14 = (72, 201, 176, 255)
+color_room_15 = (165, 105, 18, 255)
+
+rooms_color = [
+    color_room_0,
+    color_room_1,
+    color_room_2,
+    color_room_3,
+    color_room_4,
+    color_room_5,
+    color_room_6,
+    color_room_7,
+    color_room_8,
+    color_room_9,
+    color_room_10,
+    color_room_11,
+    color_room_12,
+    color_room_13,
+    color_room_14,
+    color_room_15,
+]
+
+base_colors_array = [
+    color_wall,
+    color_zone_clean,
+    color_robot,
+    color_background,
+    color_move,
+    color_charger,
+    color_no_go,
+    color_go_to,
+    color_text,
+]
+
+color_array = [
+    base_colors_array[0],  # color_wall
+    base_colors_array[6],  # color_no_go
+    base_colors_array[7],  # color_go_to
+    color_black,
+    base_colors_array[2],  # color_robot
+    base_colors_array[5],  # color_charger
+    color_text,
+    base_colors_array[4],  # color_move
+    base_colors_array[3],  # color_background
+    base_colors_array[1],  # color_zone_clean
+    color_transparent,
+    rooms_color,
+]
 
 
 class SupportedColor(StrEnum):
@@ -37,7 +166,7 @@ class DefaultColors:
 
     COLORS_RGB: Dict[str, Tuple[int, int, int]] = {
         SupportedColor.CHARGER: (255, 128, 0),
-        SupportedColor.PATH: (238, 247, 255),
+        SupportedColor.PATH: (50, 150, 255),  # More vibrant blue for better visibility
         SupportedColor.PREDICTED_PATH: (93, 109, 126),
         SupportedColor.WALLS: (255, 255, 0),
         SupportedColor.ROBOT: (255, 255, 204),
@@ -76,6 +205,13 @@ class DefaultColors:
     DEFAULT_ALPHA: Dict[str, float] = {
         f"alpha_{key}": 255.0 for key in COLORS_RGB.keys()
     }
+    # Override specific alpha values
+    DEFAULT_ALPHA.update(
+        {
+            "alpha_color_path": 200.0,  # Make path slightly transparent but still very visible
+            "alpha_color_wall": 150.0,  # Keep walls semi-transparent
+        }
+    )
     DEFAULT_ALPHA.update({f"alpha_room_{i}": 255.0 for i in range(16)})
 
     @classmethod
@@ -85,16 +221,143 @@ class DefaultColors:
         return r, g, b, int(alpha)
 
 
-class ColorsManagment:
+class ColorsManagement:
     """Manages user-defined and default colors for map elements."""
 
-    def __init__(self, device_info: dict) -> None:
+    def __init__(self, shared_var) -> None:
+        """
+        Initialize ColorsManagement for Home Assistant.
+        Uses optimized initialization for better performance.
+        """
+        self.shared_var = shared_var
+        self.color_cache = {}  # Cache for frequently used color blends
+
+        # Initialize colors efficiently
+        self.user_colors = self.initialize_user_colors(self.shared_var.device_info)
+        self.rooms_colors = self.initialize_rooms_colors(self.shared_var.device_info)
+
+    @staticmethod
+    def add_alpha_to_rgb(alpha_channels, rgb_colors):
         """
-        Initialize ColorsManagment with optional device_info from Home Assistant.
-        :param device_info: Dictionary containing user-defined RGB colors and alpha values.
+        Add alpha channel to RGB colors using corresponding alpha channels.
+        Uses NumPy for vectorized operations when possible for better performance.
+
+        Args:
+            alpha_channels (List[Optional[float]]): List of alpha channel values (0.0-255.0).
+            rgb_colors (List[Tuple[int, int, int]]): List of RGB colors.
+
+        Returns:
+            List[Tuple[int, int, int, int]]: List of RGBA colors with alpha channel added.
         """
-        self.user_colors = self.initialize_user_colors(device_info)
-        self.rooms_colors = self.initialize_rooms_colors(device_info)
+        if len(alpha_channels) != len(rgb_colors):
+            LOGGER.error("Input lists must have the same length.")
+            return []
+
+        # Fast path for empty lists
+        if not rgb_colors:
+            return []
+
+        # Try to use NumPy for vectorized operations
+        try:
+            # Convert inputs to NumPy arrays for vectorized processing
+            alphas = np.array(alpha_channels, dtype=np.float32)
+
+            # Clip alpha values to valid range [0, 255]
+            alphas = np.clip(alphas, 0, 255).astype(np.int32)
+
+            # Process RGB colors
+            result = []
+            for _, (alpha, rgb) in enumerate(zip(alphas, rgb_colors)):
+                if rgb is None:
+                    result.append((0, 0, 0, int(alpha)))
+                else:
+                    result.append((rgb[0], rgb[1], rgb[2], int(alpha)))
+
+            return result
+
+        except (ValueError, TypeError, AttributeError):
+            # Fallback to non-vectorized method if NumPy processing fails
+            result = []
+            for alpha, rgb in zip(alpha_channels, rgb_colors):
+                try:
+                    alpha_int = int(alpha)
+                    alpha_int = max(0, min(255, alpha_int))  # Clip to valid range
+
+                    if rgb is None:
+                        result.append((0, 0, 0, alpha_int))
+                    else:
+                        result.append((rgb[0], rgb[1], rgb[2], alpha_int))
+                except (ValueError, TypeError):
+                    result.append(None)
+
+            return result
+
+    def set_initial_colours(self, device_info: dict) -> None:
+        """Set the initial colours for the map using optimized methods."""
+        try:
+            # Define color keys and default values
+            base_color_keys = [
+                (COLOR_WALL, color_wall, ALPHA_WALL),
+                (COLOR_ZONE_CLEAN, color_zone_clean, ALPHA_ZONE_CLEAN),
+                (COLOR_ROBOT, color_robot, ALPHA_ROBOT),
+                (COLOR_BACKGROUND, color_background, ALPHA_BACKGROUND),
+                (COLOR_MOVE, color_move, ALPHA_MOVE),
+                (COLOR_CHARGER, color_charger, ALPHA_CHARGER),
+                (COLOR_NO_GO, color_no_go, ALPHA_NO_GO),
+                (COLOR_GO_TO, color_go_to, ALPHA_GO_TO),
+                (COLOR_TEXT, color_text, ALPHA_TEXT),
+            ]
+
+            room_color_keys = [
+                (COLOR_ROOM_0, color_room_0, ALPHA_ROOM_0),
+                (COLOR_ROOM_1, color_room_1, ALPHA_ROOM_1),
+                (COLOR_ROOM_2, color_room_2, ALPHA_ROOM_2),
+                (COLOR_ROOM_3, color_room_3, ALPHA_ROOM_3),
+                (COLOR_ROOM_4, color_room_4, ALPHA_ROOM_4),
+                (COLOR_ROOM_5, color_room_5, ALPHA_ROOM_5),
+                (COLOR_ROOM_6, color_room_6, ALPHA_ROOM_6),
+                (COLOR_ROOM_7, color_room_7, ALPHA_ROOM_7),
+                (COLOR_ROOM_8, color_room_8, ALPHA_ROOM_8),
+                (COLOR_ROOM_9, color_room_9, ALPHA_ROOM_9),
+                (COLOR_ROOM_10, color_room_10, ALPHA_ROOM_10),
+                (COLOR_ROOM_11, color_room_11, ALPHA_ROOM_11),
+                (COLOR_ROOM_12, color_room_12, ALPHA_ROOM_12),
+                (COLOR_ROOM_13, color_room_13, ALPHA_ROOM_13),
+                (COLOR_ROOM_14, color_room_14, ALPHA_ROOM_14),
+                (COLOR_ROOM_15, color_room_15, ALPHA_ROOM_15),
+            ]
+
+            # Extract user colors and alphas efficiently
+            user_colors = [
+                device_info.get(color_key, default_color)
+                for color_key, default_color, _ in base_color_keys
+            ]
+            user_alpha = [
+                device_info.get(alpha_key, 255) for _, _, alpha_key in base_color_keys
+            ]
+
+            # Extract room colors and alphas efficiently
+            rooms_colors = [
+                device_info.get(color_key, default_color)
+                for color_key, default_color, _ in room_color_keys
+            ]
+            rooms_alpha = [
+                device_info.get(alpha_key, 255) for _, _, alpha_key in room_color_keys
+            ]
+
+            # Use our optimized add_alpha_to_rgb method
+            self.shared_var.update_user_colors(
+                self.add_alpha_to_rgb(user_alpha, user_colors)
+            )
+            self.shared_var.update_rooms_colors(
+                self.add_alpha_to_rgb(rooms_alpha, rooms_colors)
+            )
+
+            # Clear the color cache after initialization
+            self.color_cache.clear()
+
+        except (ValueError, IndexError, UnboundLocalError) as e:
+            LOGGER.error("Error while populating colors: %s", e)
 
     def initialize_user_colors(self, device_info: dict) -> List[Color]:
         """
@@ -141,6 +404,120 @@ class ColorsManagment:
         """
         return (*rgb, int(alpha)) if rgb else (0, 0, 0, int(alpha))
 
+    @staticmethod
+    def blend_colors(background: Color, foreground: Color) -> Color:
+        """
+        Blend foreground color with background color based on alpha values.
+        Optimized version with more fast paths and simplified calculations.
+
+        :param background: Background RGBA color (r,g,b,a)
+        :param foreground: Foreground RGBA color (r,g,b,a) to blend on top
+        :return: Blended RGBA color
+        """
+        # Fast paths for common cases
+        fg_a = foreground[3]
+
+        if fg_a == 255:  # Fully opaque foreground
+            return foreground
+
+        if fg_a == 0:  # Fully transparent foreground
+            return background
+
+        bg_a = background[3]
+        if bg_a == 0:  # Fully transparent background
+            return foreground
+
+        # Extract components (only after fast paths)
+        bg_r, bg_g, bg_b = background[:3]
+        fg_r, fg_g, fg_b = foreground[:3]
+
+        # Pre-calculate the blend factor once (avoid repeated division)
+        blend = fg_a / 255.0
+        inv_blend = 1.0 - blend
+
+        # Simple linear interpolation for RGB channels
+        # This is faster than the previous implementation
+        out_r = int(fg_r * blend + bg_r * inv_blend)
+        out_g = int(fg_g * blend + bg_g * inv_blend)
+        out_b = int(fg_b * blend + bg_b * inv_blend)
+
+        # Alpha blending - simplified calculation
+        out_a = int(fg_a + bg_a * inv_blend)
+
+        # No need for min/max checks as the blend math keeps values in range
+        # when input values are valid (0-255)
+
+        return [out_r, out_g, out_b, out_a]
+
+    # Cache for recently sampled background colors
+    _bg_color_cache = {}
+    _cache_size = 1024  # Limit cache size to avoid memory issues
+
+    @staticmethod
+    def sample_and_blend_color(array, x: int, y: int, foreground: Color) -> Color:
+        """
+        Sample the background color from the array at coordinates (x,y) and blend with foreground color.
+        Optimized version with caching and faster sampling.
+
+        Args:
+            array: The RGBA numpy array representing the image
+            x: Coordinate X to sample the background color from
+            y: Coordinate Y to sample the background color from
+            foreground: Foreground RGBA color (r,g,b,a) to blend on top
+
+        Returns:
+            Blended RGBA color
+        """
+        # Fast path for fully opaque foreground - no need to sample or blend
+        if foreground[3] == 255:
+            return foreground
+
+        # Ensure array exists
+        if array is None:
+            return foreground
+
+        # Check if coordinates are within bounds
+        height, width = array.shape[:2]
+        if not (0 <= y < height and 0 <= x < width):
+            return foreground
+
+        # Check cache for this coordinate
+        cache_key = (id(array), x, y)
+        cache = ColorsManagement._bg_color_cache
+
+        if cache_key in cache:
+            background = cache[cache_key]
+        else:
+            # Sample the background color using direct indexing (fastest method)
+            try:
+                background = tuple(map(int, array[y, x]))
+
+                # Update cache (with simple LRU-like behavior)
+                try:
+                    if len(cache) >= ColorsManagement._cache_size:
+                        # Remove a random entry if cache is full
+                        if cache:  # Make sure cache is not empty
+                            cache.pop(next(iter(cache)))
+                        else:
+                            # If cache is somehow empty but len reported >= _cache_size
+                            # This is an edge case that shouldn't happen but we handle it
+                            pass
+                    cache[cache_key] = background
+                except KeyError:
+                    # If we encounter a KeyError, reset the cache
+                    # This is a rare edge case that might happen in concurrent access
+                    ColorsManagement._bg_color_cache = {cache_key: background}
+
+            except (IndexError, ValueError):
+                return foreground
+
+        # Fast path for fully transparent foreground
+        if foreground[3] == 0:
+            return background
+
+        # Blend the colors
+        return ColorsManagement.blend_colors(background, foreground)
+
     def get_user_colors(self) -> List[Color]:
         """Return the list of RGBA colors for user-defined map elements."""
         return self.user_colors
@@ -149,6 +526,278 @@ class ColorsManagment:
         """Return the list of RGBA colors for rooms."""
         return self.rooms_colors
 
+    @staticmethod
+    def batch_blend_colors(image_array, mask, foreground_color):
+        """
+        Blend a foreground color with all pixels in an image where the mask is True.
+        Uses scipy.ndimage for efficient batch processing.
+
+        Args:
+            image_array: NumPy array of shape (height, width, 4) containing RGBA image data
+            mask: Boolean mask of shape (height, width) indicating pixels to blend
+            foreground_color: RGBA color tuple to blend with the masked pixels
+
+        Returns:
+            Modified image array with blended colors
+        """
+        if not np.any(mask):
+            return image_array  # No pixels to blend
+
+        # Extract foreground components
+        fg_r, fg_g, fg_b, fg_a = foreground_color
+
+        # Fast path for fully opaque foreground
+        if fg_a == 255:
+            # Just set the color directly where mask is True
+            image_array[mask, 0] = fg_r
+            image_array[mask, 1] = fg_g
+            image_array[mask, 2] = fg_b
+            image_array[mask, 3] = fg_a
+            return image_array
+
+        # Fast path for fully transparent foreground
+        if fg_a == 0:
+            return image_array  # No change needed
+
+        # For semi-transparent foreground, we need to blend
+        # Extract background components where mask is True
+        bg_pixels = image_array[mask]
+
+        # Convert alpha from [0-255] to [0-1] for calculations
+        fg_alpha = fg_a / 255.0
+        bg_alpha = bg_pixels[:, 3] / 255.0
+
+        # Calculate resulting alpha
+        out_alpha = fg_alpha + bg_alpha * (1 - fg_alpha)
+
+        # Calculate alpha ratios for blending
+        # Handle division by zero by setting ratio to 0 where out_alpha is near zero
+        alpha_ratio = np.zeros_like(out_alpha)
+        valid_alpha = out_alpha > 0.0001
+        alpha_ratio[valid_alpha] = fg_alpha / out_alpha[valid_alpha]
+        inv_alpha_ratio = 1.0 - alpha_ratio
+
+        # Calculate blended RGB components
+        out_r = np.clip(
+            (fg_r * alpha_ratio + bg_pixels[:, 0] * inv_alpha_ratio), 0, 255
+        ).astype(np.uint8)
+        out_g = np.clip(
+            (fg_g * alpha_ratio + bg_pixels[:, 1] * inv_alpha_ratio), 0, 255
+        ).astype(np.uint8)
+        out_b = np.clip(
+            (fg_b * alpha_ratio + bg_pixels[:, 2] * inv_alpha_ratio), 0, 255
+        ).astype(np.uint8)
+        out_a = np.clip((out_alpha * 255), 0, 255).astype(np.uint8)
+
+        # Update the image array with blended values
+        image_array[mask, 0] = out_r
+        image_array[mask, 1] = out_g
+        image_array[mask, 2] = out_b
+        image_array[mask, 3] = out_a
+
+        return image_array
+
+    @staticmethod
+    def process_regions_with_colors(image_array, regions_mask, colors):
+        """
+        Process multiple regions in an image with different colors using scipy.ndimage.
+        This is much faster than processing each region separately.
+
+        Args:
+            image_array: NumPy array of shape (height, width, 4) containing RGBA image data
+            regions_mask: NumPy array of shape (height, width) with integer labels for different regions
+            colors: List of RGBA color tuples corresponding to each region label
+
+        Returns:
+            Modified image array with all regions colored and blended
+        """
+        # Skip processing if no regions or colors
+        if regions_mask is None or not np.any(regions_mask) or not colors:
+            return image_array
+
+        # Get unique region labels (excluding 0 which is typically background)
+        unique_labels = np.unique(regions_mask)
+        unique_labels = unique_labels[unique_labels > 0]  # Skip background (0)
+
+        if len(unique_labels) == 0:
+            return image_array  # No regions to process
+
+        # Process each region with its corresponding color
+        for label in unique_labels:
+            if label <= len(colors):
+                # Create mask for this region
+                region_mask = regions_mask == label
+
+                # Get color for this region
+                color = colors[label - 1] if label - 1 < len(colors) else colors[0]
+
+                # Apply color to this region
+                image_array = ColorsManagement.batch_blend_colors(
+                    image_array, region_mask, color
+                )
+
+        return image_array
+
+    @staticmethod
+    def apply_color_to_shapes(image_array, shapes, color, thickness=1):
+        """
+        Apply a color to multiple shapes (lines, circles, etc.) using scipy.ndimage.
+
+        Args:
+            image_array: NumPy array of shape (height, width, 4) containing RGBA image data
+            shapes: List of shape definitions (each a list of points or parameters)
+            color: RGBA color tuple to apply to the shapes
+            thickness: Line thickness for shapes
+
+        Returns:
+            Modified image array with shapes drawn and blended
+        """
+        height, width = image_array.shape[:2]
+
+        # Create a mask for all shapes
+        shapes_mask = np.zeros((height, width), dtype=bool)
+
+        # Draw all shapes into the mask
+        for shape in shapes:
+            if len(shape) >= 2:  # At least two points for a line
+                # Draw line into mask
+                for i in range(len(shape) - 1):
+                    x1, y1 = shape[i]
+                    x2, y2 = shape[i + 1]
+
+                    # Use Bresenham's line algorithm via scipy.ndimage.map_coordinates
+                    # Create coordinates for the line
+                    length = int(np.hypot(x2 - x1, y2 - y1))
+                    if length == 0:
+                        continue
+
+                    t = np.linspace(0, 1, length * 2)
+                    x = np.round(x1 * (1 - t) + x2 * t).astype(int)
+                    y = np.round(y1 * (1 - t) + y2 * t).astype(int)
+
+                    # Filter points outside the image
+                    valid = (0 <= x) & (x < width) & (0 <= y) & (y < height)
+                    x, y = x[valid], y[valid]
+
+                    # Add points to mask
+                    if thickness == 1:
+                        shapes_mask[y, x] = True
+                    else:
+                        # For thicker lines, use a disk structuring element
+                        # Create a disk structuring element once
+                        disk_radius = thickness
+                        disk_size = 2 * disk_radius + 1
+                        disk_struct = np.zeros((disk_size, disk_size), dtype=bool)
+                        y_grid, x_grid = np.ogrid[
+                            -disk_radius : disk_radius + 1,
+                            -disk_radius : disk_radius + 1,
+                        ]
+                        mask = x_grid**2 + y_grid**2 <= disk_radius**2
+                        disk_struct[mask] = True
+
+                        # Use scipy.ndimage.binary_dilation for efficient dilation
+                        # Create a temporary mask for this line segment
+                        line_mask = np.zeros_like(shapes_mask)
+                        line_mask[y, x] = True
+                        # Dilate the line with the disk structuring element
+                        dilated_line = ndimage.binary_dilation(
+                            line_mask, structure=disk_struct
+                        )
+                        # Add to the overall shapes mask
+                        shapes_mask |= dilated_line
+
+        # Apply color to all shapes at once
+        return ColorsManagement.batch_blend_colors(image_array, shapes_mask, color)
+
+    @staticmethod
+    def batch_sample_colors(image_array, coordinates):
+        """
+        Efficiently sample colors from multiple coordinates in an image using scipy.ndimage.
+
+        Args:
+            image_array: NumPy array of shape (height, width, 4) containing RGBA image data
+            coordinates: List of (x,y) tuples or numpy array of shape (N,2) with coordinates to sample
+
+        Returns:
+            NumPy array of shape (N,4) containing the RGBA colors at each coordinate
+        """
+        if len(coordinates) == 0:
+            return np.array([])
+
+        height, width = image_array.shape[:2]
+
+        # Convert coordinates to numpy array if not already
+        coords = np.array(coordinates)
+
+        # Separate x and y coordinates
+        x_coords = coords[:, 0]
+        y_coords = coords[:, 1]
+
+        # Create a mask for valid coordinates (within image bounds)
+        valid_mask = (
+            (0 <= x_coords) & (x_coords < width) & (0 <= y_coords) & (y_coords < height)
+        )
+
+        # Initialize result array with zeros
+        result = np.zeros((len(coordinates), 4), dtype=np.uint8)
+
+        if not np.any(valid_mask):
+            return result  # No valid coordinates
+
+        # Filter valid coordinates
+        valid_x = x_coords[valid_mask].astype(int)
+        valid_y = y_coords[valid_mask].astype(int)
+
+        # Use scipy.ndimage.map_coordinates for efficient sampling
+        # This is much faster than looping through coordinates
+        for channel in range(4):
+            # Sample this color channel for all valid coordinates at once
+            channel_values = ndimage.map_coordinates(
+                image_array[..., channel],
+                np.vstack((valid_y, valid_x)),
+                order=0,  # Use nearest-neighbor interpolation
+                mode="nearest",
+            )
+
+            # Assign sampled values to result array
+            result[valid_mask, channel] = channel_values
+
+        return result
+
+    def cached_blend_colors(self, background: Color, foreground: Color) -> Color:
+        """
+        Cached version of blend_colors that stores frequently used combinations.
+        This improves performance when the same color combinations are used repeatedly.
+
+        Args:
+            background: Background RGBA color tuple
+            foreground: Foreground RGBA color tuple
+
+        Returns:
+            Blended RGBA color tuple
+        """
+        # Fast paths for common cases
+        if foreground[3] == 255:
+            return foreground
+        if foreground[3] == 0:
+            return background
+
+        # Create a cache key from the color tuples
+        cache_key = (background, foreground)
+
+        # Check if this combination is in the cache
+        if cache_key in self.color_cache:
+            return self.color_cache[cache_key]
+
+        # Calculate the blended color
+        result = ColorsManagement.blend_colors(background, foreground)
+
+        # Store in cache (with a maximum cache size to prevent memory issues)
+        if len(self.color_cache) < 1000:  # Limit cache size
+            self.color_cache[cache_key] = result
+
+        return result
+
     def get_colour(self, supported_color: SupportedColor) -> Color:
         """
         Retrieve the color for a specific map element, prioritizing user-defined values.
@@ -162,7 +811,7 @@ class ColorsManagment:
             try:
                 return self.rooms_colors[room_index]
             except (IndexError, KeyError):
-                _LOGGER.warning("Room index %s not found, using default.", room_index)
+                LOGGER.warning("Room index %s not found, using default.", room_index)
                 r, g, b = DefaultColors.DEFAULT_ROOM_COLORS[f"color_room_{room_index}"]
                 a = DefaultColors.DEFAULT_ALPHA[f"alpha_room_{room_index}"]
                 return r, g, b, int(a)
@@ -172,7 +821,7 @@ class ColorsManagment:
             index = list(SupportedColor).index(supported_color)
             return self.user_colors[index]
         except (IndexError, KeyError, ValueError):
-            _LOGGER.warning(
+            LOGGER.warning(
                 "Color for %s not found. Returning default.", supported_color
             )
             return DefaultColors.get_rgba(supported_color, 255)  # Transparent fallback