import math
from typing import Any, Callable, Dict, List, Optional, Sequence, Tuple, Union, cast

import cv2
import numpy as np
import skimage.transform
from scipy.ndimage import gaussian_filter

from albumentations import random_utils
from albumentations.augmentations.utils import (
    _maybe_process_in_chunks,
    angle_2pi_range,
    clipped,
    preserve_channel_dim,
)
from albumentations.core.bbox_utils import denormalize_bbox, normalize_bbox
from albumentations.core.types import (
    NUM_MULTI_CHANNEL_DIMENSIONS,
    BoxInternalType,
    ColorType,
    D4Type,
    KeypointInternalType,
)

__all__ = [
    "optical_distortion",
    "elastic_transform_approx",
    "grid_distortion",
    "pad",
    "pad_with_params",
    "bbox_rot90",
    "keypoint_rot90",
    "rotate",
    "bbox_rotate",
    "keypoint_rotate",
    "elastic_transform",
    "resize",
    "scale",
    "keypoint_scale",
    "_func_max_size",
    "longest_max_size",
    "smallest_max_size",
    "perspective",
    "perspective_bbox",
    "rotation2d_matrix_to_euler_angles",
    "perspective_keypoint",
    "_is_identity_matrix",
    "warp_affine",
    "keypoint_affine",
    "bbox_affine",
    "safe_rotate",
    "bbox_safe_rotate",
    "keypoint_safe_rotate",
    "piecewise_affine",
    "to_distance_maps",
    "from_distance_maps",
    "keypoint_piecewise_affine",
    "bbox_piecewise_affine",
    "bbox_flip",
    "bbox_hflip",
    "bbox_transpose",
    "bbox_vflip",
    "hflip",
    "hflip_cv2",
    "transpose",
    "keypoint_flip",
    "keypoint_hflip",
    "keypoint_transpose",
    "keypoint_vflip",
    "normalize_bbox",
    "denormalize_bbox",
    "vflip",
    "d4",
    "bbox_d4",
    "keypoint_d4",
]

TWO = 2

ROT90_180_FACTOR = 2
ROT90_270_FACTOR = 3


def bbox_rot90(bbox: BoxInternalType, factor: int, rows: int, cols: int) -> BoxInternalType:
    """Rotates a bounding box by 90 degrees CCW (see np.rot90)

    Args:
        bbox: A bounding box tuple (x_min, y_min, x_max, y_max).
        factor: Number of CCW rotations. Must be in set {0, 1, 2, 3} See np.rot90.
        rows: Image rows.
        cols: Image cols.

    Returns:
        tuple: A bounding box tuple (x_min, y_min, x_max, y_max).

    """
    if factor not in {0, 1, 2, 3}:
        msg = "Parameter n must be in set {0, 1, 2, 3}"
        raise ValueError(msg)
    x_min, y_min, x_max, y_max = bbox[:4]
    if factor == 1:
        bbox = y_min, 1 - x_max, y_max, 1 - x_min
    elif factor == ROT90_180_FACTOR:
        bbox = 1 - x_max, 1 - y_max, 1 - x_min, 1 - y_min
    elif factor == ROT90_270_FACTOR:
        bbox = 1 - y_max, x_min, 1 - y_min, x_max
    return bbox


def bbox_d4(bbox: BoxInternalType, group_member: D4Type, rows: int, cols: int) -> BoxInternalType:
    """Applies a `D_4` symmetry group transformation to a bounding box.

    The function transforms a bounding box according to the specified group member from the `D_4` group.
    These transformations include rotations and reflections, specified to work on an image's bounding box given
    its dimensions.

    Parameters:
    - bbox (BoxInternalType): The bounding box to transform. This should be a structure specifying coordinates
        like (xmin, ymin, xmax, ymax).
    - group_member (D4Type): A string identifier for the `D_4` group transformation to apply.
        Valid values are 'e', 'r90', 'r180', 'r270', 'v', 'hvt', 'h', 't'.
    - rows (int): The number of rows in the image, used to adjust transformations that depend on image dimensions.
    - cols (int): The number of columns in the image, used for the same purposes as rows.

    Returns:
    - BoxInternalType: The transformed bounding box.

    Raises:
    - ValueError: If an invalid group member is specified.

    Examples:
    - Applying a 90-degree rotation:
      `bbox_d4((10, 20, 110, 120), 'r90', 100, 100)`
      This would rotate the bounding box 90 degrees within a 100x100 image.
    """
    transformations = {
        "e": lambda x: x,  # Identity transformation
        "r90": lambda x: bbox_rot90(x, 1, rows, cols),  # Rotate 90 degrees
        "r180": lambda x: bbox_rot90(x, 2, rows, cols),  # Rotate 180 degrees
        "r270": lambda x: bbox_rot90(x, 3, rows, cols),  # Rotate 270 degrees
        "v": lambda x: bbox_vflip(x, rows, cols),  # Vertical flip
        "hvt": lambda x: bbox_transpose(bbox_rot90(x, 2, rows, cols), rows, cols),  # Reflect over anti-diagonal
        "h": lambda x: bbox_hflip(x, rows, cols),  # Horizontal flip
        "t": lambda x: bbox_transpose(x, rows, cols),  # Transpose (reflect over main diagonal)
    }

    # Execute the appropriate transformation
    if group_member in transformations:
        return transformations[group_member](bbox)

    raise ValueError(f"Invalid group member: {group_member}")


@angle_2pi_range
def keypoint_rot90(
    keypoint: KeypointInternalType,
    factor: int,
    rows: int,
    cols: int,
    **params: Any,
) -> KeypointInternalType:
    """Rotates a keypoint by 90 degrees CCW

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        factor: Number of CCW rotations. Must be in range [0;3] See np.rot90.
        rows: Image height.
        cols: Image width.

    Returns:
        tuple: A keypoint `(x, y, angle, scale)`.

    Raises:
        ValueError: if factor not in set {0, 1, 2, 3}

    """
    x, y, angle, scale = keypoint

    if factor not in {0, 1, 2, 3}:
        raise ValueError("Parameter factor must be in set {0, 1, 2, 3}")

    if factor == 1:
        x, y, angle = y, (cols - 1) - x, angle - math.pi / 2
    elif factor == ROT90_180_FACTOR:
        x, y, angle = (cols - 1) - x, (rows - 1) - y, angle - math.pi
    elif factor == ROT90_270_FACTOR:
        x, y, angle = (rows - 1) - y, x, angle + math.pi / 2

    return x, y, angle, scale


def keypoint_d4(
    keypoint: KeypointInternalType,
    group_member: D4Type,
    rows: int,
    cols: int,
    **params: Any,
) -> KeypointInternalType:
    """Applies a `D_4` symmetry group transformation to a keypoint.

    This function adjusts a keypoint's coordinates according to the specified `D_4` group transformation,
    which includes rotations and reflections suitable for image processing tasks. These transformations account
    for the dimensions of the image to ensure the keypoint remains within its boundaries.

    Parameters:
    - keypoint (KeypointInternalType): The keypoint to transform. T
        his should be a structure or tuple specifying coordinates
        like (x, y, [additional parameters]).
    - group_member (D4Type): A string identifier for the `D_4` group transformation to apply.
        Valid values are 'e', 'r90', 'r180', 'r270', 'v', 'hv', 'h', 't'.
    - rows (int): The number of rows in the image.
    - cols (int): The number of columns in the image.
    - params (Any): Not used

    Returns:
    - KeypointInternalType: The transformed keypoint.

    Raises:
    - ValueError: If an invalid group member is specified, indicating that the specified transformation does not exist.

    Examples:
    - Rotating a keypoint by 90 degrees in a 100x100 image:
      `keypoint_d4((50, 30), 'r90', 100, 100)`
      This would move the keypoint from (50, 30) to (70, 50) assuming standard coordinate transformations.
    """
    transformations = {
        "e": lambda x: x,  # Identity transformation
        "r90": lambda x: keypoint_rot90(x, 1, rows, cols),  # Rotate 90 degrees
        "r180": lambda x: keypoint_rot90(x, 2, rows, cols),  # Rotate 180 degrees
        "r270": lambda x: keypoint_rot90(x, 3, rows, cols),  # Rotate 270 degrees
        "v": lambda x: keypoint_vflip(x, rows, cols),  # Vertical flip
        "hvt": lambda x: keypoint_transpose(keypoint_rot90(x, 2, rows, cols), rows, cols),  # Reflect over anti diagonal
        "h": lambda x: keypoint_hflip(x, rows, cols),  # Horizontal flip
        "t": lambda x: keypoint_transpose(x, rows, cols),  # Transpose (reflect over main diagonal)
    }
    # Execute the appropriate transformation
    if group_member in transformations:
        return transformations[group_member](keypoint)

    raise ValueError(f"Invalid group member: {group_member}")


@preserve_channel_dim
def rotate(
    img: np.ndarray,
    angle: float,
    interpolation: int,
    border_mode: int,
    value: Optional[ColorType] = None,
) -> np.ndarray:
    height, width = img.shape[:2]
    # for images we use additional shifts of (0.5, 0.5) as otherwise
    # we get an ugly black border for 90deg rotations
    matrix = cv2.getRotationMatrix2D((width / 2 - 0.5, height / 2 - 0.5), angle, 1.0)

    warp_fn = _maybe_process_in_chunks(
        cv2.warpAffine,
        M=matrix,
        dsize=(width, height),
        flags=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    return warp_fn(img)


def bbox_rotate(bbox: BoxInternalType, angle: float, method: str, rows: int, cols: int) -> BoxInternalType:
    """Rotates a bounding box by angle degrees.

    Args:
        bbox: A bounding box `(x_min, y_min, x_max, y_max)`.
        angle: Angle of rotation in degrees.
        method: Rotation method used. Should be one of: "largest_box", "ellipse". Default: "largest_box".
        rows: Image rows.
        cols: Image cols.

    Returns:
        A bounding box `(x_min, y_min, x_max, y_max)`.

    Reference:
        https://arxiv.org/abs/2109.13488

    """
    x_min, y_min, x_max, y_max = bbox[:4]
    scale = cols / float(rows)
    if method == "largest_box":
        x = np.array([x_min, x_max, x_max, x_min]) - 0.5
        y = np.array([y_min, y_min, y_max, y_max]) - 0.5
    elif method == "ellipse":
        w = (x_max - x_min) / 2
        h = (y_max - y_min) / 2
        data = np.arange(0, 360, dtype=np.float32)
        x = w * np.sin(np.radians(data)) + (w + x_min - 0.5)
        y = h * np.cos(np.radians(data)) + (h + y_min - 0.5)
    else:
        raise ValueError(f"Method {method} is not a valid rotation method.")
    angle = np.deg2rad(angle)
    x_t = (np.cos(angle) * x * scale + np.sin(angle) * y) / scale
    y_t = -np.sin(angle) * x * scale + np.cos(angle) * y
    x_t = x_t + 0.5
    y_t = y_t + 0.5

    x_min, x_max = min(x_t), max(x_t)
    y_min, y_max = min(y_t), max(y_t)

    return x_min, y_min, x_max, y_max


@angle_2pi_range
def keypoint_rotate(
    keypoint: KeypointInternalType,
    angle: float,
    rows: int,
    cols: int,
    **params: Any,
) -> KeypointInternalType:
    """Rotate a keypoint by angle.

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        angle: Rotation angle.
        rows: Image height.
        cols: Image width.

    Returns:
        A keypoint `(x, y, angle, scale)`.

    """
    center = (cols - 1) * 0.5, (rows - 1) * 0.5
    matrix = cv2.getRotationMatrix2D(center, angle, 1.0)
    x, y, a, s = keypoint[:4]
    x, y = cv2.transform(np.array([[[x, y]]]), matrix).squeeze()
    return x, y, a + math.radians(angle), s


@preserve_channel_dim
def elastic_transform(
    img: np.ndarray,
    alpha: float,
    sigma: float,
    alpha_affine: float,
    interpolation: int,
    border_mode: int,
    value: Optional[ColorType] = None,
    random_state: Optional[np.random.RandomState] = None,
    approximate: bool = False,
    same_dxdy: bool = False,
) -> np.ndarray:
    """Elastic deformation of images as described in [Simard2003]_ (with modifications).
    Based on https://gist.github.com/ernestum/601cdf56d2b424757de5

    .. [Simard2003] Simard, Steinkraus and Platt, "Best Practices for
         Convolutional Neural Networks applied to Visual Document Analysis", in
         Proc. of the International Conference on Document Analysis and
         Recognition, 2003.
    """
    height, width = img.shape[:2]

    # Random affine
    center_square = np.array((height, width), dtype=np.float32) // 2
    square_size = min((height, width)) // 3
    alpha = float(alpha)
    sigma = float(sigma)
    alpha_affine = float(alpha_affine)

    pts1 = np.array(
        [
            center_square + square_size,
            [center_square[0] + square_size, center_square[1] - square_size],
            center_square - square_size,
        ],
        dtype=np.float32,
    )
    pts2 = pts1 + random_utils.uniform(-alpha_affine, alpha_affine, size=pts1.shape, random_state=random_state).astype(
        np.float32,
    )
    matrix = cv2.getAffineTransform(pts1, pts2)

    warp_fn = _maybe_process_in_chunks(
        cv2.warpAffine,
        M=matrix,
        dsize=(width, height),
        flags=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    img = warp_fn(img)

    if approximate:
        # Approximate computation smooth displacement map with a large enough kernel.
        # On large images (512+) this is approximately 2X times faster
        dx = random_utils.rand(height, width, random_state=random_state).astype(np.float32) * 2 - 1
        cv2.GaussianBlur(dx, (17, 17), sigma, dst=dx)
        dx *= alpha
        if same_dxdy:
            # Speed up even more
            dy = dx
        else:
            dy = random_utils.rand(height, width, random_state=random_state).astype(np.float32) * 2 - 1
            cv2.GaussianBlur(dy, (17, 17), sigma, dst=dy)
            dy *= alpha
    else:
        dx = np.float32(
            gaussian_filter((random_utils.rand(height, width, random_state=random_state) * 2 - 1), sigma) * alpha,
        )
        if same_dxdy:
            # Speed up
            dy = dx
        else:
            dy = np.float32(
                gaussian_filter((random_utils.rand(height, width, random_state=random_state) * 2 - 1), sigma) * alpha,
            )

    x, y = np.meshgrid(np.arange(width), np.arange(height))

    map_x = np.float32(x + dx)
    map_y = np.float32(y + dy)

    remap_fn = _maybe_process_in_chunks(
        cv2.remap,
        map1=map_x,
        map2=map_y,
        interpolation=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    return remap_fn(img)


@preserve_channel_dim
def resize(img: np.ndarray, height: int, width: int, interpolation: int) -> np.ndarray:
    img_height, img_width = img.shape[:2]
    if (height, width) == img.shape[:2]:
        return img
    resize_fn = _maybe_process_in_chunks(cv2.resize, dsize=(width, height), interpolation=interpolation)
    return resize_fn(img)


@preserve_channel_dim
def scale(img: np.ndarray, scale: float, interpolation: int) -> np.ndarray:
    height, width = img.shape[:2]
    new_height, new_width = int(height * scale), int(width * scale)
    return resize(img, new_height, new_width, interpolation)


def keypoint_scale(keypoint: KeypointInternalType, scale_x: float, scale_y: float) -> KeypointInternalType:
    """Scales a keypoint by scale_x and scale_y.

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        scale_x: Scale coefficient x-axis.
        scale_y: Scale coefficient y-axis.

    Returns:
        A keypoint `(x, y, angle, scale)`.

    """
    x, y, angle, scale = keypoint[:4]
    return x * scale_x, y * scale_y, angle, scale * max(scale_x, scale_y)


def _func_max_size(img: np.ndarray, max_size: int, interpolation: int, func: Callable[..., Any]) -> np.ndarray:
    height, width = img.shape[:2]

    scale = max_size / float(func(width, height))

    if scale != 1.0:
        new_height, new_width = tuple(round(dim * scale) for dim in (height, width))
        return resize(img, height=new_height, width=new_width, interpolation=interpolation)
    return img


@preserve_channel_dim
def longest_max_size(img: np.ndarray, max_size: int, interpolation: int) -> np.ndarray:
    return _func_max_size(img, max_size, interpolation, max)


@preserve_channel_dim
def smallest_max_size(img: np.ndarray, max_size: int, interpolation: int) -> np.ndarray:
    return _func_max_size(img, max_size, interpolation, min)


@preserve_channel_dim
def perspective(
    img: np.ndarray,
    matrix: np.ndarray,
    max_width: int,
    max_height: int,
    border_val: Union[float, List[float], np.ndarray],
    border_mode: int,
    keep_size: bool,
    interpolation: int,
) -> np.ndarray:
    height, width = img.shape[:2]
    perspective_func = _maybe_process_in_chunks(
        cv2.warpPerspective,
        M=matrix,
        dsize=(max_width, max_height),
        borderMode=border_mode,
        borderValue=border_val,
        flags=interpolation,
    )
    warped = perspective_func(img)

    if keep_size:
        return resize(warped, height, width, interpolation=interpolation)

    return warped


def perspective_bbox(
    bbox: BoxInternalType,
    height: int,
    width: int,
    matrix: np.ndarray,
    max_width: int,
    max_height: int,
    keep_size: bool,
) -> BoxInternalType:
    x1, y1, x2, y2 = denormalize_bbox(bbox, height, width)[:4]

    points = np.array([[x1, y1], [x2, y1], [x2, y2], [x1, y2]], dtype=np.float32)

    x1, y1, x2, y2 = float("inf"), float("inf"), 0, 0
    for pt in points:
        point = perspective_keypoint((*pt.tolist(), 0, 0), height, width, matrix, max_width, max_height, keep_size)
        x, y = point[:2]
        x1 = min(x1, x)
        x2 = max(x2, x)
        y1 = min(y1, y)
        y2 = max(y2, y)

    return cast(
        BoxInternalType,
        normalize_bbox((x1, y1, x2, y2), height if keep_size else max_height, width if keep_size else max_width),
    )


def rotation2d_matrix_to_euler_angles(matrix: np.ndarray, y_up: bool) -> float:
    """Args:
    matrix (np.ndarray): Rotation matrix
    y_up (bool): is Y axis looks up or down

    """
    if y_up:
        return np.arctan2(matrix[1, 0], matrix[0, 0])
    return np.arctan2(-matrix[1, 0], matrix[0, 0])


@angle_2pi_range
def perspective_keypoint(
    keypoint: KeypointInternalType,
    height: int,
    width: int,
    matrix: np.ndarray,
    max_width: int,
    max_height: int,
    keep_size: bool,
) -> KeypointInternalType:
    x, y, angle, scale = keypoint

    keypoint_vector = np.array([x, y], dtype=np.float32).reshape([1, 1, 2])

    x, y = cv2.perspectiveTransform(keypoint_vector, matrix)[0, 0]
    angle += rotation2d_matrix_to_euler_angles(matrix[:2, :2], y_up=True)

    scale_x = np.sign(matrix[0, 0]) * np.sqrt(matrix[0, 0] ** 2 + matrix[0, 1] ** 2)
    scale_y = np.sign(matrix[1, 1]) * np.sqrt(matrix[1, 0] ** 2 + matrix[1, 1] ** 2)
    scale *= max(scale_x, scale_y)

    if keep_size:
        scale_x = width / max_width
        scale_y = height / max_height
        return keypoint_scale((x, y, angle, scale), scale_x, scale_y)

    return x, y, angle, scale


def _is_identity_matrix(matrix: skimage.transform.ProjectiveTransform) -> bool:
    return np.allclose(matrix.params, np.eye(3, dtype=np.float32))


@preserve_channel_dim
def warp_affine(
    image: np.ndarray,
    matrix: skimage.transform.ProjectiveTransform,
    interpolation: int,
    cval: Union[float, Sequence[float]],
    mode: int,
    output_shape: Sequence[int],
) -> np.ndarray:
    if _is_identity_matrix(matrix):
        return image

    dsize = int(np.round(output_shape[1])), int(np.round(output_shape[0]))
    warp_fn = _maybe_process_in_chunks(
        cv2.warpAffine,
        M=matrix.params[:2],
        dsize=dsize,
        flags=interpolation,
        borderMode=mode,
        borderValue=cval,
    )
    return warp_fn(image)


@angle_2pi_range
def keypoint_affine(
    keypoint: KeypointInternalType,
    matrix: skimage.transform.ProjectiveTransform,
    scale: Dict[str, Any],
) -> KeypointInternalType:
    if _is_identity_matrix(matrix):
        return keypoint

    x, y, a, s = keypoint[:4]
    x, y = cv2.transform(np.array([[[x, y]]]), matrix.params[:2]).squeeze()
    a += rotation2d_matrix_to_euler_angles(matrix.params[:2], y_up=False)
    s *= np.max([scale["x"], scale["y"]])
    return x, y, a, s


def bbox_affine(
    bbox: BoxInternalType,
    matrix: skimage.transform.ProjectiveTransform,
    rotate_method: str,
    rows: int,
    cols: int,
    output_shape: Sequence[int],
) -> BoxInternalType:
    if _is_identity_matrix(matrix):
        return bbox
    x_min, y_min, x_max, y_max = denormalize_bbox(bbox, rows, cols)[:4]
    if rotate_method == "largest_box":
        points = np.array(
            [
                [x_min, y_min],
                [x_max, y_min],
                [x_max, y_max],
                [x_min, y_max],
            ],
        )
    elif rotate_method == "ellipse":
        w = (x_max - x_min) / 2
        h = (y_max - y_min) / 2
        data = np.arange(0, 360, dtype=np.float32)
        x = w * np.sin(np.radians(data)) + (w + x_min - 0.5)
        y = h * np.cos(np.radians(data)) + (h + y_min - 0.5)
        points = np.hstack([x.reshape(-1, 1), y.reshape(-1, 1)])
    else:
        raise ValueError(f"Method {rotate_method} is not a valid rotation method.")
    points = skimage.transform.matrix_transform(points, matrix.params)
    x_min = np.min(points[:, 0])
    x_max = np.max(points[:, 0])
    y_min = np.min(points[:, 1])
    y_max = np.max(points[:, 1])

    return cast(BoxInternalType, normalize_bbox((x_min, y_min, x_max, y_max), output_shape[0], output_shape[1]))


@preserve_channel_dim
def safe_rotate(
    img: np.ndarray,
    matrix: np.ndarray,
    interpolation: int,
    value: Optional[ColorType] = None,
    border_mode: int = cv2.BORDER_REFLECT_101,
) -> np.ndarray:
    height, width = img.shape[:2]
    warp_fn = _maybe_process_in_chunks(
        cv2.warpAffine,
        M=matrix,
        dsize=(width, height),
        flags=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    return warp_fn(img)


def bbox_safe_rotate(bbox: BoxInternalType, matrix: np.ndarray, cols: int, rows: int) -> BoxInternalType:
    x1, y1, x2, y2 = denormalize_bbox(bbox, rows, cols)[:4]
    points = np.array(
        [
            [x1, y1, 1],
            [x2, y1, 1],
            [x2, y2, 1],
            [x1, y2, 1],
        ],
    )
    points = points @ matrix.T
    x1 = points[:, 0].min()
    x2 = points[:, 0].max()
    y1 = points[:, 1].min()
    y2 = points[:, 1].max()

    def fix_point(pt1: float, pt2: float, max_val: float) -> Tuple[float, float]:
        # In my opinion, these errors should be very low, around 1-2 pixels.
        if pt1 < 0:
            return 0, pt2 + pt1
        if pt2 > max_val:
            return pt1 - (pt2 - max_val), max_val
        return pt1, pt2

    x1, x2 = fix_point(x1, x2, cols)
    y1, y2 = fix_point(y1, y2, rows)

    return cast(KeypointInternalType, normalize_bbox((x1, y1, x2, y2), rows, cols))


def keypoint_safe_rotate(
    keypoint: KeypointInternalType,
    matrix: np.ndarray,
    angle: float,
    scale_x: float,
    scale_y: float,
    cols: int,
    rows: int,
) -> KeypointInternalType:
    x, y, a, s = keypoint[:4]
    point = np.array([[x, y, 1]])
    x, y = (point @ matrix.T)[0]

    # To avoid problems with float errors
    x = np.clip(x, 0, cols - 1)
    y = np.clip(y, 0, rows - 1)

    a += angle
    s *= max(scale_x, scale_y)
    return x, y, a, s


@clipped
def piecewise_affine(
    img: np.ndarray,
    matrix: Optional[skimage.transform.PiecewiseAffineTransform],
    interpolation: int,
    mode: str,
    cval: float,
) -> np.ndarray:
    if matrix is None:
        return img
    return skimage.transform.warp(
        img,
        matrix,
        order=interpolation,
        mode=mode,
        cval=cval,
        preserve_range=True,
        output_shape=img.shape,
    )


def to_distance_maps(
    keypoints: Sequence[Tuple[float, float]],
    height: int,
    width: int,
    inverted: bool = False,
) -> np.ndarray:
    """Generate a ``(H,W,N)`` array of distance maps for ``N`` keypoints.

    The ``n``-th distance map contains at every location ``(y, x)`` the
    euclidean distance to the ``n``-th keypoint.

    This function can be used as a helper when augmenting keypoints with a
    method that only supports the augmentation of images.

    Args:
        keypoint: keypoint coordinates
        height: image height
        width: image width
        inverted (bool): If ``True``, inverted distance maps are returned where each
            distance value d is replaced by ``d/(d+1)``, i.e. the distance
            maps have values in the range ``(0.0, 1.0]`` with ``1.0`` denoting
            exactly the position of the respective keypoint.

    Returns:
        (H, W, N) ndarray
            A ``float32`` array containing ``N`` distance maps for ``N``
            keypoints. Each location ``(y, x, n)`` in the array denotes the
            euclidean distance at ``(y, x)`` to the ``n``-th keypoint.
            If `inverted` is ``True``, the distance ``d`` is replaced
            by ``d/(d+1)``. The height and width of the array match the
            height and width in ``KeypointsOnImage.shape``.

    """
    distance_maps = np.zeros((height, width, len(keypoints)), dtype=np.float32)

    yy = np.arange(0, height)
    xx = np.arange(0, width)
    grid_xx, grid_yy = np.meshgrid(xx, yy)

    for i, (x, y) in enumerate(keypoints):
        distance_maps[:, :, i] = (grid_xx - x) ** 2 + (grid_yy - y) ** 2

    distance_maps = np.sqrt(distance_maps)
    if inverted:
        return 1 / (distance_maps + 1)
    return distance_maps


def validate_if_not_found_coords(
    if_not_found_coords: Optional[Union[Sequence[int], Dict[str, Any]]],
) -> Tuple[bool, int, int]:
    """Validate and process `if_not_found_coords` parameter."""
    if if_not_found_coords is None:
        return True, -1, -1
    if isinstance(if_not_found_coords, (tuple, list)):
        if len(if_not_found_coords) != TWO:
            msg = "Expected tuple/list 'if_not_found_coords' to contain exactly two entries."
            raise ValueError(msg)
        return False, if_not_found_coords[0], if_not_found_coords[1]
    if isinstance(if_not_found_coords, dict):
        return False, if_not_found_coords["x"], if_not_found_coords["y"]

    msg = "Expected if_not_found_coords to be None, tuple, list, or dict."
    raise ValueError(msg)


def find_keypoint(
    position: Tuple[int, int],
    distance_map: np.ndarray,
    threshold: Optional[float],
    inverted: bool,
) -> Optional[Tuple[float, float]]:
    """Determine if a valid keypoint can be found at the given position."""
    y, x = position
    value = distance_map[y, x]
    if not inverted and threshold is not None and value >= threshold:
        return None
    if inverted and threshold is not None and value < threshold:
        return None
    return float(x), float(y)


def from_distance_maps(
    distance_maps: np.ndarray,
    inverted: bool,
    if_not_found_coords: Optional[Union[Sequence[int], Dict[str, Any]]],
    threshold: Optional[float],
) -> List[Tuple[float, float]]:
    """Convert outputs of `to_distance_maps` to `KeypointsOnImage`.
    This is the inverse of `to_distance_maps`.
    """
    if distance_maps.ndim != NUM_MULTI_CHANNEL_DIMENSIONS:
        msg = f"Expected three-dimensional input, got {distance_maps.ndim} dimensions and shape {distance_maps.shape}."
        raise ValueError(msg)
    height, width, nb_keypoints = distance_maps.shape

    drop_if_not_found, if_not_found_x, if_not_found_y = validate_if_not_found_coords(if_not_found_coords)

    keypoints = []
    for i in range(nb_keypoints):
        hitidx_flat = np.argmax(distance_maps[..., i]) if inverted else np.argmin(distance_maps[..., i])
        hitidx_ndim = np.unravel_index(hitidx_flat, (height, width))
        keypoint = find_keypoint(hitidx_ndim, distance_maps[:, :, i], threshold, inverted)
        if keypoint:
            keypoints.append(keypoint)
        elif not drop_if_not_found:
            keypoints.append((if_not_found_x, if_not_found_y))

    return keypoints


def keypoint_piecewise_affine(
    keypoint: KeypointInternalType,
    matrix: Optional[skimage.transform.PiecewiseAffineTransform],
    h: int,
    w: int,
    keypoints_threshold: float,
) -> KeypointInternalType:
    if matrix is None:
        return keypoint
    x, y, a, s = keypoint[:4]
    dist_maps = to_distance_maps([(x, y)], h, w, True)
    dist_maps = piecewise_affine(dist_maps, matrix, 0, "constant", 0)
    x, y = from_distance_maps(dist_maps, True, {"x": -1, "y": -1}, keypoints_threshold)[0]
    return x, y, a, s


def bbox_piecewise_affine(
    bbox: BoxInternalType,
    matrix: Optional[skimage.transform.PiecewiseAffineTransform],
    h: int,
    w: int,
    keypoints_threshold: float,
) -> BoxInternalType:
    if matrix is None:
        return bbox
    x1, y1, x2, y2 = denormalize_bbox(bbox, h, w)[:4]
    keypoints = [
        (x1, y1),
        (x2, y1),
        (x2, y2),
        (x1, y2),
    ]
    dist_maps = to_distance_maps(keypoints, h, w, True)
    dist_maps = piecewise_affine(dist_maps, matrix, 0, "constant", 0)
    keypoints = from_distance_maps(dist_maps, True, {"x": -1, "y": -1}, keypoints_threshold)
    keypoints = [i for i in keypoints if 0 <= i[0] < w and 0 <= i[1] < h]
    keypoints_arr = np.array(keypoints)
    x1 = keypoints_arr[:, 0].min()
    y1 = keypoints_arr[:, 1].min()
    x2 = keypoints_arr[:, 0].max()
    y2 = keypoints_arr[:, 1].max()
    return cast(BoxInternalType, normalize_bbox((x1, y1, x2, y2), h, w))


def vflip(img: np.ndarray) -> np.ndarray:
    return np.ascontiguousarray(img[::-1, ...])


def hflip(img: np.ndarray) -> np.ndarray:
    return np.ascontiguousarray(img[:, ::-1, ...])


def hflip_cv2(img: np.ndarray) -> np.ndarray:
    return cv2.flip(img, 1)


def d4(img: np.ndarray, group_member: D4Type) -> np.ndarray:
    """Applies a `D_4` symmetry group transformation to an image array.

    This function manipulates an image using transformations such as rotations and flips,
    corresponding to the `D_4` dihedral group symmetry operations.
    Each transformation is identified by a unique group member code.

    Parameters:
    - img (np.ndarray): The input image array to transform.
    - group_member (D4Type): A string identifier indicating the specific transformation to apply. Valid codes include:
      - 'e': Identity (no transformation).
      - 'r90': Rotate 90 degrees counterclockwise.
      - 'r180': Rotate 180 degrees.
      - 'r270': Rotate 270 degrees counterclockwise.
      - 'v': Vertical flip.
      - 'hvt': Transpose over second diagonal
      - 'h': Horizontal flip.
      - 't': Transpose (reflect over the main diagonal).

    Returns:
    - np.ndarray: The transformed image array.

    Raises:
    - ValueError: If an invalid group member is specified.

    Examples:
    - Rotating an image by 90 degrees:
      `transformed_image = d4(original_image, 'r90')`
    - Applying a horizontal flip to an image:
      `transformed_image = d4(original_image, 'h')`
    """
    transformations = {
        "e": lambda x: x,  # Identity transformation
        "r90": lambda x: rot90(x, 1),  # Rotate 90 degrees
        "r180": lambda x: rot90(x, 2),  # Rotate 180 degrees
        "r270": lambda x: rot90(x, 3),  # Rotate 270 degrees
        "v": vflip,  # Vertical flip
        "hvt": lambda x: transpose(rot90(x, 2)),  # Reflect over anti-diagonal
        "h": hflip,  # Horizontal flip
        "t": transpose,  # Transpose (reflect over main diagonal)
    }

    # Execute the appropriate transformation
    if group_member in transformations:
        return np.ascontiguousarray(transformations[group_member](img))

    raise ValueError(f"Invalid group member: {group_member}")


@preserve_channel_dim
def random_flip(img: np.ndarray, code: int) -> np.ndarray:
    return cv2.flip(img, code)


def transpose(img: np.ndarray) -> np.ndarray:
    """Transposes the first two dimensions of an array of any dimensionality.
    Retains the order of any additional dimensions.

    Args:
        img (np.ndarray): Input array.

    Returns:
        np.ndarray: Transposed array.
    """
    # Generate the new axes order
    new_axes = list(range(img.ndim))
    new_axes[0], new_axes[1] = 1, 0  # Swap the first two dimensions

    # Transpose the array using the new axes order
    return img.transpose(new_axes)


def rot90(img: np.ndarray, factor: int) -> np.ndarray:
    img = np.rot90(img, factor)
    return np.ascontiguousarray(img)


def bbox_vflip(bbox: BoxInternalType, rows: int, cols: int) -> BoxInternalType:
    """Flip a bounding box vertically around the x-axis.

    Args:
        bbox: A bounding box `(x_min, y_min, x_max, y_max)`.
        rows: Image rows.
        cols: Image cols.

    Returns:
        tuple: A bounding box `(x_min, y_min, x_max, y_max)`.

    """
    x_min, y_min, x_max, y_max = bbox[:4]
    return x_min, 1 - y_max, x_max, 1 - y_min


def bbox_hflip(bbox: BoxInternalType, rows: int, cols: int) -> BoxInternalType:
    """Flip a bounding box horizontally around the y-axis.

    Args:
        bbox: A bounding box `(x_min, y_min, x_max, y_max)`.
        rows: Image rows.
        cols: Image cols.

    Returns:
        A bounding box `(x_min, y_min, x_max, y_max)`.

    """
    x_min, y_min, x_max, y_max = bbox[:4]
    return 1 - x_max, y_min, 1 - x_min, y_max


def bbox_flip(bbox: BoxInternalType, d: int, rows: int, cols: int) -> BoxInternalType:
    """Flip a bounding box either vertically, horizontally or both depending on the value of `d`.

    Args:
        bbox: A bounding box `(x_min, y_min, x_max, y_max)`.
        d: dimension. 0 for vertical flip, 1 for horizontal, -1 for transpose
        rows: Image rows.
        cols: Image cols.

    Returns:
        A bounding box `(x_min, y_min, x_max, y_max)`.

    Raises:
        ValueError: if value of `d` is not -1, 0 or 1.

    """
    if d == 0:
        bbox = bbox_vflip(bbox, rows, cols)
    elif d == 1:
        bbox = bbox_hflip(bbox, rows, cols)
    elif d == -1:
        bbox = bbox_hflip(bbox, rows, cols)
        bbox = bbox_vflip(bbox, rows, cols)
    else:
        raise ValueError(f"Invalid d value {d}. Valid values are -1, 0 and 1")
    return bbox


def bbox_transpose(bbox: KeypointInternalType, rows: int, cols: int) -> KeypointInternalType:
    """Transposes a bounding box along given axis.

    Args:
        bbox: A bounding box `(x_min, y_min, x_max, y_max)`.
        rows: Image rows.
        cols: Image cols.

    Returns:
        A bounding box tuple `(x_min, y_min, x_max, y_max)`.

    Raises:
        ValueError: If axis not equal to 0 or 1.

    """
    x_min, y_min, x_max, y_max = bbox[:4]
    return (y_min, x_min, y_max, x_max)


@angle_2pi_range
def keypoint_vflip(keypoint: KeypointInternalType, rows: int, cols: int) -> KeypointInternalType:
    """Flip a keypoint vertically around the x-axis.

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        rows: Image height.
        cols: Image width.

    Returns:
        tuple: A keypoint `(x, y, angle, scale)`.

    """
    x, y, angle, scale = keypoint[:4]
    angle = -angle
    return x, (rows - 1) - y, angle, scale


@angle_2pi_range
def keypoint_hflip(keypoint: KeypointInternalType, rows: int, cols: int) -> KeypointInternalType:
    """Flip a keypoint horizontally around the y-axis.

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        rows: Image height.
        cols: Image width.

    Returns:
        A keypoint `(x, y, angle, scale)`.

    """
    x, y, angle, scale = keypoint[:4]
    angle = math.pi - angle
    return (cols - 1) - x, y, angle, scale


@angle_2pi_range
def keypoint_flip(keypoint: KeypointInternalType, d: int, rows: int, cols: int) -> KeypointInternalType:
    """Flip a keypoint either vertically, horizontally or both depending on the value of `d`.

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        d: Number of flip. Must be -1, 0 or 1:
            * 0 - vertical flip,
            * 1 - horizontal flip,
            * -1 - vertical and horizontal flip.
        rows: Image height.
        cols: Image width.

    Returns:
        A keypoint `(x, y, angle, scale)`.

    Raises:
        ValueError: if value of `d` is not -1, 0 or 1.

    """
    if d == 0:
        keypoint = keypoint_vflip(keypoint, rows, cols)
    elif d == 1:
        keypoint = keypoint_hflip(keypoint, rows, cols)
    elif d == -1:
        keypoint = keypoint_hflip(keypoint, rows, cols)
        keypoint = keypoint_vflip(keypoint, rows, cols)
    else:
        raise ValueError(f"Invalid d value {d}. Valid values are -1, 0 and 1")
    return keypoint


@angle_2pi_range
def keypoint_transpose(keypoint: KeypointInternalType, rows: int, cols: int) -> KeypointInternalType:
    """Transposes a keypoint along a specified axis: main diagonal

    Args:
        keypoint: A keypoint `(x, y, angle, scale)`.
        rows: Total number of rows (height) in the image.
        cols: Total number of columns (width) in the image.

    Returns:
        A transformed keypoint `(x, y, angle, scale)`.

    Raises:
        ValueError: If axis is not 0 or 1.

    """
    x, y, angle, scale = keypoint[:4]

    # Transpose over the main diagonal: swap x and y.
    new_x, new_y = y, x
    # Adjust angle to reflect the coordinate swap.
    angle = np.pi / 2 - angle if angle <= np.pi else 3 * np.pi / 2 - angle

    return new_x, new_y, angle, scale


@preserve_channel_dim
def pad(
    img: np.ndarray,
    min_height: int,
    min_width: int,
    border_mode: int,
    value: Optional[ColorType],
) -> np.ndarray:
    height, width = img.shape[:2]

    if height < min_height:
        h_pad_top = int((min_height - height) / 2.0)
        h_pad_bottom = min_height - height - h_pad_top
    else:
        h_pad_top = 0
        h_pad_bottom = 0

    if width < min_width:
        w_pad_left = int((min_width - width) / 2.0)
        w_pad_right = min_width - width - w_pad_left
    else:
        w_pad_left = 0
        w_pad_right = 0

    img = pad_with_params(img, h_pad_top, h_pad_bottom, w_pad_left, w_pad_right, border_mode, value)

    if img.shape[:2] != (max(min_height, height), max(min_width, width)):
        raise RuntimeError(
            f"Invalid result shape. Got: {img.shape[:2]}. Expected: {(max(min_height, height), max(min_width, width))}",
        )

    return img


@preserve_channel_dim
def pad_with_params(
    img: np.ndarray,
    h_pad_top: int,
    h_pad_bottom: int,
    w_pad_left: int,
    w_pad_right: int,
    border_mode: int,
    value: Optional[ColorType],
) -> np.ndarray:
    pad_fn = _maybe_process_in_chunks(
        cv2.copyMakeBorder,
        top=h_pad_top,
        bottom=h_pad_bottom,
        left=w_pad_left,
        right=w_pad_right,
        borderType=border_mode,
        value=value,
    )
    return pad_fn(img)


@preserve_channel_dim
def optical_distortion(
    img: np.ndarray,
    k: int,
    dx: int,
    dy: int,
    interpolation: int,
    border_mode: int,
    value: Optional[ColorType] = None,
) -> np.ndarray:
    """Barrel / pincushion distortion. Unconventional augment.

    Reference:
        |  https://stackoverflow.com/questions/6199636/formulas-for-barrel-pincushion-distortion
        |  https://stackoverflow.com/questions/10364201/image-transformation-in-opencv
        |  https://stackoverflow.com/questions/2477774/correcting-fisheye-distortion-programmatically
        |  http://www.coldvision.io/2017/03/02/advanced-lane-finding-using-opencv/
    """
    height, width = img.shape[:2]

    fx = width
    fy = height

    cx = width * 0.5 + dx
    cy = height * 0.5 + dy

    camera_matrix = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=np.float32)

    distortion = np.array([k, k, 0, 0, 0], dtype=np.float32)
    map1, map2 = cv2.initUndistortRectifyMap(camera_matrix, distortion, None, None, (width, height), cv2.CV_32FC1)
    return cv2.remap(img, map1, map2, interpolation=interpolation, borderMode=border_mode, borderValue=value)


@preserve_channel_dim
def grid_distortion(
    img: np.ndarray,
    num_steps: int,
    xsteps: Tuple[()],
    ysteps: Tuple[()],
    interpolation: int,
    border_mode: int,
    value: Optional[ColorType] = None,
) -> np.ndarray:
    height, width = img.shape[:2]

    x_step = width // num_steps
    xx = np.zeros(width, np.float32)
    prev = 0
    for idx in range(num_steps + 1):
        x = idx * x_step
        start = int(x)
        end = int(x) + x_step
        if end > width:
            end = width
            cur = width
        else:
            cur = prev + x_step * xsteps[idx]

        xx[start:end] = np.linspace(prev, cur, end - start)
        prev = cur

    y_step = height // num_steps
    yy = np.zeros(height, np.float32)
    prev = 0
    for idx in range(num_steps + 1):
        y = idx * y_step
        start = int(y)
        end = int(y) + y_step
        if end > height:
            end = height
            cur = height
        else:
            cur = prev + y_step * ysteps[idx]

        yy[start:end] = np.linspace(prev, cur, end - start)
        prev = cur

    map_x, map_y = np.meshgrid(xx, yy)
    map_x = map_x.astype(np.float32)
    map_y = map_y.astype(np.float32)

    remap_fn = _maybe_process_in_chunks(
        cv2.remap,
        map1=map_x,
        map2=map_y,
        interpolation=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    return remap_fn(img)


@preserve_channel_dim
def elastic_transform_approx(
    img: np.ndarray,
    alpha: float,
    sigma: float,
    alpha_affine: float,
    interpolation: int,
    border_mode: int,
    value: Optional[ColorType] = None,
    random_state: Optional[np.random.RandomState] = None,
) -> np.ndarray:
    """Elastic deformation of images as described in [Simard2003]_ (with modifications for speed).
    Based on https://gist.github.com/ernestum/601cdf56d2b424757de5

    .. [Simard2003] Simard, Steinkraus and Platt, "Best Practices for
         Convolutional Neural Networks applied to Visual Document Analysis", in
         Proc. of the International Conference on Document Analysis and
         Recognition, 2003.
    """
    height, width = img.shape[:2]

    # Random affine
    center_square = np.array((height, width), dtype=np.float32) // 2
    square_size = min((height, width)) // 3
    alpha = float(alpha)
    sigma = float(sigma)
    alpha_affine = float(alpha_affine)

    pts1 = np.array(
        [
            center_square + square_size,
            [center_square[0] + square_size, center_square[1] - square_size],
            center_square - square_size,
        ],
        dtype=np.float32,
    )
    pts2 = pts1 + random_utils.uniform(-alpha_affine, alpha_affine, size=pts1.shape, random_state=random_state).astype(
        np.float32,
    )
    matrix = cv2.getAffineTransform(pts1, pts2)

    warp_fn = _maybe_process_in_chunks(
        cv2.warpAffine,
        M=matrix,
        dsize=(width, height),
        flags=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    img = warp_fn(img)

    dx = random_utils.rand(height, width, random_state=random_state).astype(np.float32) * 2 - 1
    cv2.GaussianBlur(dx, (17, 17), sigma, dst=dx)
    dx *= alpha

    dy = random_utils.rand(height, width, random_state=random_state).astype(np.float32) * 2 - 1
    cv2.GaussianBlur(dy, (17, 17), sigma, dst=dy)
    dy *= alpha

    x, y = np.meshgrid(np.arange(width), np.arange(height))

    map_x = np.float32(x + dx)
    map_y = np.float32(y + dy)

    remap_fn = _maybe_process_in_chunks(
        cv2.remap,
        map1=map_x,
        map2=map_y,
        interpolation=interpolation,
        borderMode=border_mode,
        borderValue=value,
    )
    return remap_fn(img)