ultralytics 8.0.194__py3-none-any.whl → 8.0.196__py3-none-any.whl

ultralytics/nn/modules/head.py

@@ -1,7 +1,5 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 license
-"""
-Model head modules
-"""
+"""Model head modules."""
 
 import math
 
@@ -229,6 +227,7 @@ class RTDETRDecoder(nn.Module):
         self._reset_parameters()
 
     def forward(self, x, batch=None):
+        """Runs the forward pass of the module, returning bounding box and classification scores for the input."""
         from ultralytics.models.utils.ops import get_cdn_group
 
         # input projection and embedding
@@ -265,6 +264,7 @@ class RTDETRDecoder(nn.Module):
         return y if self.export else (y, x)
 
     def _generate_anchors(self, shapes, grid_size=0.05, dtype=torch.float32, device='cpu', eps=1e-2):
+        """Generates anchor bounding boxes for given shapes with specific grid size and validates them."""
         anchors = []
         for i, (h, w) in enumerate(shapes):
             sy = torch.arange(end=h, dtype=dtype, device=device)
@@ -284,6 +284,7 @@ class RTDETRDecoder(nn.Module):
         return anchors, valid_mask
 
     def _get_encoder_input(self, x):
+        """Processes and returns encoder inputs by getting projection features from input and concatenating them."""
         # get projection features
         x = [self.input_proj[i](feat) for i, feat in enumerate(x)]
         # get encoder inputs
@@ -301,6 +302,7 @@ class RTDETRDecoder(nn.Module):
         return feats, shapes
 
     def _get_decoder_input(self, feats, shapes, dn_embed=None, dn_bbox=None):
+        """Generates and prepares the input required for the decoder from the provided features and shapes."""
         bs = len(feats)
         # prepare input for decoder
         anchors, valid_mask = self._generate_anchors(shapes, dtype=feats.dtype, device=feats.device)
@@ -339,6 +341,7 @@ class RTDETRDecoder(nn.Module):
 
     # TODO
     def _reset_parameters(self):
+        """Initializes or resets the parameters of the model's various components with predefined weights and biases."""
         # class and bbox head init
         bias_cls = bias_init_with_prob(0.01) / 80 * self.nc
         # NOTE: the weight initialization in `linear_init_` would cause NaN when training with custom datasets.

ultralytics/nn/modules/transformer.py

@@ -1,7 +1,5 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 license
-"""
-Transformer modules
-"""
+"""Transformer modules."""
 
 import math
 
@@ -18,9 +16,10 @@ __all__ = ('TransformerEncoderLayer', 'TransformerLayer', 'TransformerBlock', 'M
 
 
 class TransformerEncoderLayer(nn.Module):
-    """Transformer Encoder."""
+    """Defines a single layer of the transformer encoder."""
 
     def __init__(self, c1, cm=2048, num_heads=8, dropout=0.0, act=nn.GELU(), normalize_before=False):
+        """Initialize the TransformerEncoderLayer with specified parameters."""
         super().__init__()
         from ...utils.torch_utils import TORCH_1_9
         if not TORCH_1_9:
@@ -41,10 +40,11 @@ class TransformerEncoderLayer(nn.Module):
         self.normalize_before = normalize_before
 
     def with_pos_embed(self, tensor, pos=None):
-        """Add position embeddings if given."""
+        """Add position embeddings to the tensor if provided."""
         return tensor if pos is None else tensor + pos
 
     def forward_post(self, src, src_mask=None, src_key_padding_mask=None, pos=None):
+        """Performs forward pass with post-normalization."""
         q = k = self.with_pos_embed(src, pos)
         src2 = self.ma(q, k, value=src, attn_mask=src_mask, key_padding_mask=src_key_padding_mask)[0]
         src = src + self.dropout1(src2)
@@ -54,6 +54,7 @@ class TransformerEncoderLayer(nn.Module):
         return self.norm2(src)
 
     def forward_pre(self, src, src_mask=None, src_key_padding_mask=None, pos=None):
+        """Performs forward pass with pre-normalization."""
         src2 = self.norm1(src)
         q = k = self.with_pos_embed(src2, pos)
         src2 = self.ma(q, k, value=src2, attn_mask=src_mask, key_padding_mask=src_key_padding_mask)[0]
@@ -70,11 +71,14 @@ class TransformerEncoderLayer(nn.Module):
 
 
 class AIFI(TransformerEncoderLayer):
+    """Defines the AIFI transformer layer."""
 
     def __init__(self, c1, cm=2048, num_heads=8, dropout=0, act=nn.GELU(), normalize_before=False):
+        """Initialize the AIFI instance with specified parameters."""
         super().__init__(c1, cm, num_heads, dropout, act, normalize_before)
 
     def forward(self, x):
+        """Forward pass for the AIFI transformer layer."""
         c, h, w = x.shape[1:]
         pos_embed = self.build_2d_sincos_position_embedding(w, h, c)
         # flatten [B, C, H, W] to [B, HxW, C]
@@ -82,7 +86,8 @@ class AIFI(TransformerEncoderLayer):
         return x.permute(0, 2, 1).view([-1, c, h, w]).contiguous()
 
     @staticmethod
-    def build_2d_sincos_position_embedding(w, h, embed_dim=256, temperature=10000.):
+    def build_2d_sincos_position_embedding(w, h, embed_dim=256, temperature=10000.0):
+        """Builds 2D sine-cosine position embedding."""
         grid_w = torch.arange(int(w), dtype=torch.float32)
         grid_h = torch.arange(int(h), dtype=torch.float32)
         grid_w, grid_h = torch.meshgrid(grid_w, grid_h, indexing='ij')
@@ -140,27 +145,32 @@ class TransformerBlock(nn.Module):
 
 
 class MLPBlock(nn.Module):
+    """Implements a single block of a multi-layer perceptron."""
 
     def __init__(self, embedding_dim, mlp_dim, act=nn.GELU):
+        """Initialize the MLPBlock with specified embedding dimension, MLP dimension, and activation function."""
         super().__init__()
         self.lin1 = nn.Linear(embedding_dim, mlp_dim)
         self.lin2 = nn.Linear(mlp_dim, embedding_dim)
         self.act = act()
 
     def forward(self, x: torch.Tensor) -> torch.Tensor:
+        """Forward pass for the MLPBlock."""
         return self.lin2(self.act(self.lin1(x)))
 
 
 class MLP(nn.Module):
-    """ Very simple multi-layer perceptron (also called FFN)"""
+    """Implements a simple multi-layer perceptron (also called FFN)."""
 
     def __init__(self, input_dim, hidden_dim, output_dim, num_layers):
+        """Initialize the MLP with specified input, hidden, output dimensions and number of layers."""
         super().__init__()
         self.num_layers = num_layers
         h = [hidden_dim] * (num_layers - 1)
         self.layers = nn.ModuleList(nn.Linear(n, k) for n, k in zip([input_dim] + h, h + [output_dim]))
 
     def forward(self, x):
+        """Forward pass for the entire MLP."""
         for i, layer in enumerate(self.layers):
             x = F.relu(layer(x)) if i < self.num_layers - 1 else layer(x)
         return x
@@ -168,17 +178,22 @@ class MLP(nn.Module):
 
 class LayerNorm2d(nn.Module):
     """
-    LayerNorm2d module from https://github.com/facebookresearch/detectron2/blob/main/detectron2/layers/batch_norm.py
+    2D Layer Normalization module inspired by Detectron2 and ConvNeXt implementations.
+
+    Original implementation at
+    https://github.com/facebookresearch/detectron2/blob/main/detectron2/layers/batch_norm.py
     https://github.com/facebookresearch/ConvNeXt/blob/d1fa8f6fef0a165b27399986cc2bdacc92777e40/models/convnext.py#L119
     """
 
     def __init__(self, num_channels, eps=1e-6):
+        """Initialize LayerNorm2d with the given parameters."""
         super().__init__()
         self.weight = nn.Parameter(torch.ones(num_channels))
         self.bias = nn.Parameter(torch.zeros(num_channels))
         self.eps = eps
 
     def forward(self, x):
+        """Perform forward pass for 2D layer normalization."""
         u = x.mean(1, keepdim=True)
         s = (x - u).pow(2).mean(1, keepdim=True)
         x = (x - u) / torch.sqrt(s + self.eps)
@@ -187,11 +202,13 @@ class LayerNorm2d(nn.Module):
 
 class MSDeformAttn(nn.Module):
     """
-    Original Multi-Scale Deformable Attention Module.
+    Multi-Scale Deformable Attention Module based on Deformable-DETR and PaddleDetection implementations.
+
     https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/modules/ms_deform_attn.py
     """
 
     def __init__(self, d_model=256, n_levels=4, n_heads=8, n_points=4):
+        """Initialize MSDeformAttn with the given parameters."""
         super().__init__()
         if d_model % n_heads != 0:
             raise ValueError(f'd_model must be divisible by n_heads, but got {d_model} and {n_heads}')
@@ -214,6 +231,7 @@ class MSDeformAttn(nn.Module):
         self._reset_parameters()
 
     def _reset_parameters(self):
+        """Reset module parameters."""
         constant_(self.sampling_offsets.weight.data, 0.)
         thetas = torch.arange(self.n_heads, dtype=torch.float32) * (2.0 * math.pi / self.n_heads)
         grid_init = torch.stack([thetas.cos(), thetas.sin()], -1)
@@ -232,7 +250,10 @@ class MSDeformAttn(nn.Module):
 
     def forward(self, query, refer_bbox, value, value_shapes, value_mask=None):
         """
+        Perform forward pass for multi-scale deformable attention.
+
         https://github.com/PaddlePaddle/PaddleDetection/blob/develop/ppdet/modeling/transformers/deformable_transformer.py
+
         Args:
             query (torch.Tensor): [bs, query_length, C]
             refer_bbox (torch.Tensor): [bs, query_length, n_levels, 2], range in [0, 1], top-left (0,0),
@@ -272,24 +293,27 @@ class MSDeformAttn(nn.Module):
 
 class DeformableTransformerDecoderLayer(nn.Module):
     """
+    Deformable Transformer Decoder Layer inspired by PaddleDetection and Deformable-DETR implementations.
+
     https://github.com/PaddlePaddle/PaddleDetection/blob/develop/ppdet/modeling/transformers/deformable_transformer.py
     https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/deformable_transformer.py
     """
 
     def __init__(self, d_model=256, n_heads=8, d_ffn=1024, dropout=0., act=nn.ReLU(), n_levels=4, n_points=4):
+        """Initialize the DeformableTransformerDecoderLayer with the given parameters."""
         super().__init__()
 
-        # self attention
+        # Self attention
         self.self_attn = nn.MultiheadAttention(d_model, n_heads, dropout=dropout)
         self.dropout1 = nn.Dropout(dropout)
         self.norm1 = nn.LayerNorm(d_model)
 
-        # cross attention
+        # Cross attention
         self.cross_attn = MSDeformAttn(d_model, n_levels, n_heads, n_points)
         self.dropout2 = nn.Dropout(dropout)
         self.norm2 = nn.LayerNorm(d_model)
 
-        # ffn
+        # FFN
         self.linear1 = nn.Linear(d_model, d_ffn)
         self.act = act
         self.dropout3 = nn.Dropout(dropout)
@@ -299,37 +323,44 @@ class DeformableTransformerDecoderLayer(nn.Module):
 
     @staticmethod
     def with_pos_embed(tensor, pos):
+        """Add positional embeddings to the input tensor, if provided."""
         return tensor if pos is None else tensor + pos
 
     def forward_ffn(self, tgt):
+        """Perform forward pass through the Feed-Forward Network part of the layer."""
         tgt2 = self.linear2(self.dropout3(self.act(self.linear1(tgt))))
         tgt = tgt + self.dropout4(tgt2)
         return self.norm3(tgt)
 
     def forward(self, embed, refer_bbox, feats, shapes, padding_mask=None, attn_mask=None, query_pos=None):
-        # self attention
+        """Perform the forward pass through the entire decoder layer."""
+
+        # Self attention
         q = k = self.with_pos_embed(embed, query_pos)
         tgt = self.self_attn(q.transpose(0, 1), k.transpose(0, 1), embed.transpose(0, 1),
                              attn_mask=attn_mask)[0].transpose(0, 1)
         embed = embed + self.dropout1(tgt)
         embed = self.norm1(embed)
 
-        # cross attention
+        # Cross attention
         tgt = self.cross_attn(self.with_pos_embed(embed, query_pos), refer_bbox.unsqueeze(2), feats, shapes,
                               padding_mask)
         embed = embed + self.dropout2(tgt)
         embed = self.norm2(embed)
 
-        # ffn
+        # FFN
         return self.forward_ffn(embed)
 
 
 class DeformableTransformerDecoder(nn.Module):
     """
+    Implementation of Deformable Transformer Decoder based on PaddleDetection.
+
     https://github.com/PaddlePaddle/PaddleDetection/blob/develop/ppdet/modeling/transformers/deformable_transformer.py
     """
 
     def __init__(self, hidden_dim, decoder_layer, num_layers, eval_idx=-1):
+        """Initialize the DeformableTransformerDecoder with the given parameters."""
         super().__init__()
         self.layers = _get_clones(decoder_layer, num_layers)
         self.num_layers = num_layers
@@ -347,6 +378,7 @@ class DeformableTransformerDecoder(nn.Module):
             pos_mlp,
             attn_mask=None,
             padding_mask=None):
+        """Perform the forward pass through the entire decoder."""
         output = embed
         dec_bboxes = []
         dec_cls = []

ultralytics/nn/modules/utils.py

@@ -1,7 +1,5 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 license
-"""
-Module utils
-"""
+"""Module utils."""
 
 import copy
 import math
@@ -16,15 +14,17 @@ __all__ = 'multi_scale_deformable_attn_pytorch', 'inverse_sigmoid'
 
 
 def _get_clones(module, n):
+    """Create a list of cloned modules from the given module."""
     return nn.ModuleList([copy.deepcopy(module) for _ in range(n)])
 
 
 def bias_init_with_prob(prior_prob=0.01):
-    """initialize conv/fc bias value according to a given probability value."""
+    """Initialize conv/fc bias value according to a given probability value."""
     return float(-np.log((1 - prior_prob) / prior_prob))  # return bias_init
 
 
 def linear_init_(module):
+    """Initialize the weights and biases of a linear module."""
     bound = 1 / math.sqrt(module.weight.shape[0])
     uniform_(module.weight, -bound, bound)
     if hasattr(module, 'bias') and module.bias is not None:
@@ -32,6 +32,7 @@ def linear_init_(module):
 
 
 def inverse_sigmoid(x, eps=1e-5):
+    """Calculate the inverse sigmoid function for a tensor."""
     x = x.clamp(min=0, max=1)
     x1 = x.clamp(min=eps)
     x2 = (1 - x).clamp(min=eps)
@@ -43,6 +44,7 @@ def multi_scale_deformable_attn_pytorch(value: torch.Tensor, value_spatial_shape
                                         attention_weights: torch.Tensor) -> torch.Tensor:
     """
     Multi-scale deformable attention.
+
     https://github.com/IDEA-Research/detrex/blob/main/detrex/layers/multi_scale_deform_attn.py
     """
 

ultralytics/nn/tasks.py

@@ -25,14 +25,11 @@ except ImportError:
 
 
 class BaseModel(nn.Module):
-    """
-    The BaseModel class serves as a base class for all the models in the Ultralytics YOLO family.
-    """
+    """The BaseModel class serves as a base class for all the models in the Ultralytics YOLO family."""
 
     def forward(self, x, *args, **kwargs):
         """
-        Forward pass of the model on a single scale.
-        Wrapper for `_forward_once` method.
+        Forward pass of the model on a single scale. Wrapper for `_forward_once` method.
 
         Args:
             x (torch.Tensor | dict): The input image tensor or a dict including image tensor and gt labels.
@@ -93,8 +90,8 @@ class BaseModel(nn.Module):
 
     def _profile_one_layer(self, m, x, dt):
         """
-        Profile the computation time and FLOPs of a single layer of the model on a given input.
-        Appends the results to the provided list.
+        Profile the computation time and FLOPs of a single layer of the model on a given input. Appends the results to
+        the provided list.
 
         Args:
             m (nn.Module): The layer to be profiled.
@@ -158,7 +155,7 @@ class BaseModel(nn.Module):
 
     def info(self, detailed=False, verbose=True, imgsz=640):
         """
-        Prints model information
+        Prints model information.
 
         Args:
             detailed (bool): if True, prints out detailed information about the model. Defaults to False
@@ -175,7 +172,7 @@ class BaseModel(nn.Module):
             fn (function): the function to apply to the model
 
         Returns:
-            A model that is a Detect() object.
+            (BaseModel): An updated BaseModel object.
         """
         self = super()._apply(fn)
         m = self.model[-1]  # Detect()
@@ -202,7 +199,7 @@ class BaseModel(nn.Module):
 
     def loss(self, batch, preds=None):
         """
-        Compute loss
+        Compute loss.
 
         Args:
             batch (dict): Batch to compute loss on
@@ -215,6 +212,7 @@ class BaseModel(nn.Module):
         return self.criterion(preds, batch)
 
     def init_criterion(self):
+        """Initialize the loss criterion for the BaseModel."""
         raise NotImplementedError('compute_loss() needs to be implemented by task heads')
 
 
@@ -222,6 +220,7 @@ class DetectionModel(BaseModel):
     """YOLOv8 detection model."""
 
     def __init__(self, cfg='yolov8n.yaml', ch=3, nc=None, verbose=True):  # model, input channels, number of classes
+        """Initialize the YOLOv8 detection model with the given config and parameters."""
         super().__init__()
         self.yaml = cfg if isinstance(cfg, dict) else yaml_model_load(cfg)  # cfg dict
 
@@ -289,6 +288,7 @@ class DetectionModel(BaseModel):
         return y
 
     def init_criterion(self):
+        """Initialize the loss criterion for the DetectionModel."""
         return v8DetectionLoss(self)
 
 
@@ -300,6 +300,7 @@ class SegmentationModel(DetectionModel):
         super().__init__(cfg=cfg, ch=ch, nc=nc, verbose=verbose)
 
     def init_criterion(self):
+        """Initialize the loss criterion for the SegmentationModel."""
         return v8SegmentationLoss(self)
 
 
@@ -316,6 +317,7 @@ class PoseModel(DetectionModel):
         super().__init__(cfg=cfg, ch=ch, nc=nc, verbose=verbose)
 
     def init_criterion(self):
+        """Initialize the loss criterion for the PoseModel."""
         return v8PoseLoss(self)
 
 
@@ -365,22 +367,59 @@ class ClassificationModel(BaseModel):
                     m[i] = nn.Conv2d(m[i].in_channels, nc, m[i].kernel_size, m[i].stride, bias=m[i].bias is not None)
 
     def init_criterion(self):
-        """Compute the classification loss between predictions and true labels."""
+        """Initialize the loss criterion for the ClassificationModel."""
         return v8ClassificationLoss()
 
 
 class RTDETRDetectionModel(DetectionModel):
+    """
+    RTDETR (Real-time DEtection and Tracking using Transformers) Detection Model class.
+
+    This class is responsible for constructing the RTDETR architecture, defining loss functions, and
+    facilitating both the training and inference processes. RTDETR is an object detection and tracking model
+    that extends from the DetectionModel base class.
+
+    Attributes:
+        cfg (str): The configuration file path or preset string. Default is 'rtdetr-l.yaml'.
+        ch (int): Number of input channels. Default is 3 (RGB).
+        nc (int, optional): Number of classes for object detection. Default is None.
+        verbose (bool): Specifies if summary statistics are shown during initialization. Default is True.
+
+    Methods:
+        init_criterion: Initializes the criterion used for loss calculation.
+        loss: Computes and returns the loss during training.
+        predict: Performs a forward pass through the network and returns the output.
+    """
 
     def __init__(self, cfg='rtdetr-l.yaml', ch=3, nc=None, verbose=True):
+        """
+        Initialize the RTDETRDetectionModel.
+
+        Args:
+            cfg (str): Configuration file name or path.
+            ch (int): Number of input channels.
+            nc (int, optional): Number of classes. Defaults to None.
+            verbose (bool, optional): Print additional information during initialization. Defaults to True.
+        """
         super().__init__(cfg=cfg, ch=ch, nc=nc, verbose=verbose)
 
     def init_criterion(self):
-        """Compute the classification loss between predictions and true labels."""
+        """Initialize the loss criterion for the RTDETRDetectionModel."""
         from ultralytics.models.utils.loss import RTDETRDetectionLoss
 
         return RTDETRDetectionLoss(nc=self.nc, use_vfl=True)
 
     def loss(self, batch, preds=None):
+        """
+        Compute the loss for the given batch of data.
+
+        Args:
+            batch (dict): Dictionary containing image and label data.
+            preds (torch.Tensor, optional): Precomputed model predictions. Defaults to None.
+
+        Returns:
+            tuple: A tuple containing the total loss and main three losses in a tensor.
+        """
         if not hasattr(self, 'criterion'):
             self.criterion = self.init_criterion()
 
@@ -417,16 +456,17 @@ class RTDETRDetectionModel(DetectionModel):
 
     def predict(self, x, profile=False, visualize=False, batch=None, augment=False):
         """
-        Perform a forward pass through the network.
+        Perform a forward pass through the model.
 
         Args:
-            x (torch.Tensor): The input tensor to the model
-            profile (bool):  Print the computation time of each layer if True, defaults to False.
-            visualize (bool): Save the feature maps of the model if True, defaults to False
-            batch (dict): A dict including gt boxes and labels from dataloader.
+            x (torch.Tensor): The input tensor.
+            profile (bool, optional): If True, profile the computation time for each layer. Defaults to False.
+            visualize (bool, optional): If True, save feature maps for visualization. Defaults to False.
+            batch (dict, optional): Ground truth data for evaluation. Defaults to None.
+            augment (bool, optional): If True, perform data augmentation during inference. Defaults to False.
 
         Returns:
-            (torch.Tensor): The last output of the model.
+            torch.Tensor: Model's output tensor.
         """
         y, dt = [], []  # outputs
         for m in self.model[:-1]:  # except the head part
@@ -708,9 +748,9 @@ def yaml_model_load(path):
 
 def guess_model_scale(model_path):
     """
-    Takes a path to a YOLO model's YAML file as input and extracts the size character of the model's scale.
-    The function uses regular expression matching to find the pattern of the model scale in the YAML file name,
-    which is denoted by n, s, m, l, or x. The function returns the size character of the model scale as a string.
+    Takes a path to a YOLO model's YAML file as input and extracts the size character of the model's scale. The function
+    uses regular expression matching to find the pattern of the model scale in the YAML file name, which is denoted by
+    n, s, m, l, or x. The function returns the size character of the model scale as a string.
 
     Args:
         model_path (str | Path): The path to the YOLO model's YAML file.

ultralytics/trackers/bot_sort.py

@@ -12,6 +12,33 @@ from .utils.kalman_filter import KalmanFilterXYWH
 
 
 class BOTrack(STrack):
+    """
+    An extended version of the STrack class for YOLOv8, adding object tracking features.
+
+    Attributes:
+        shared_kalman (KalmanFilterXYWH): A shared Kalman filter for all instances of BOTrack.
+        smooth_feat (np.ndarray): Smoothed feature vector.
+        curr_feat (np.ndarray): Current feature vector.
+        features (deque): A deque to store feature vectors with a maximum length defined by `feat_history`.
+        alpha (float): Smoothing factor for the exponential moving average of features.
+        mean (np.ndarray): The mean state of the Kalman filter.
+        covariance (np.ndarray): The covariance matrix of the Kalman filter.
+
+    Methods:
+        update_features(feat): Update features vector and smooth it using exponential moving average.
+        predict(): Predicts the mean and covariance using Kalman filter.
+        re_activate(new_track, frame_id, new_id): Reactivates a track with updated features and optionally new ID.
+        update(new_track, frame_id): Update the YOLOv8 instance with new track and frame ID.
+        tlwh: Property that gets the current position in tlwh format `(top left x, top left y, width, height)`.
+        multi_predict(stracks): Predicts the mean and covariance of multiple object tracks using shared Kalman filter.
+        convert_coords(tlwh): Converts tlwh bounding box coordinates to xywh format.
+        tlwh_to_xywh(tlwh): Convert bounding box to xywh format `(center x, center y, width, height)`.
+
+    Usage:
+        bo_track = BOTrack(tlwh, score, cls, feat)
+        bo_track.predict()
+        bo_track.update(new_track, frame_id)
+    """
     shared_kalman = KalmanFilterXYWH()
 
     def __init__(self, tlwh, score, cls, feat=None, feat_history=50):
@@ -59,9 +86,7 @@ class BOTrack(STrack):
 
     @property
     def tlwh(self):
-        """Get current position in bounding box format `(top left x, top left y,
-        width, height)`.
-        """
+        """Get current position in bounding box format `(top left x, top left y, width, height)`."""
         if self.mean is None:
             return self._tlwh.copy()
         ret = self.mean[:4].copy()
@@ -90,15 +115,37 @@ class BOTrack(STrack):
 
     @staticmethod
     def tlwh_to_xywh(tlwh):
-        """Convert bounding box to format `(center x, center y, width,
-        height)`.
-        """
+        """Convert bounding box to format `(center x, center y, width, height)`."""
         ret = np.asarray(tlwh).copy()
         ret[:2] += ret[2:] / 2
         return ret
 
 
 class BOTSORT(BYTETracker):
+    """
+    An extended version of the BYTETracker class for YOLOv8, designed for object tracking with ReID and GMC algorithm.
+
+    Attributes:
+        proximity_thresh (float): Threshold for spatial proximity (IoU) between tracks and detections.
+        appearance_thresh (float): Threshold for appearance similarity (ReID embeddings) between tracks and detections.
+        encoder (object): Object to handle ReID embeddings, set to None if ReID is not enabled.
+        gmc (GMC): An instance of the GMC algorithm for data association.
+        args (object): Parsed command-line arguments containing tracking parameters.
+
+    Methods:
+        get_kalmanfilter(): Returns an instance of KalmanFilterXYWH for object tracking.
+        init_track(dets, scores, cls, img): Initialize track with detections, scores, and classes.
+        get_dists(tracks, detections): Get distances between tracks and detections using IoU and (optionally) ReID.
+        multi_predict(tracks): Predict and track multiple objects with YOLOv8 model.
+
+    Usage:
+        bot_sort = BOTSORT(args, frame_rate)
+        bot_sort.init_track(dets, scores, cls, img)
+        bot_sort.multi_predict(tracks)
+
+    Note:
+        The class is designed to work with the YOLOv8 object detection model and supports ReID only if enabled via args.
+    """
 
     def __init__(self, args, frame_rate=30):
         """Initialize YOLOv8 object with ReID module and GMC algorithm."""