ultralytics 8.1.29__py3-none-any.whl → 8.3.62__py3-none-any.whl

ultralytics/trackers/byte_tracker.py

@@ -1,12 +1,12 @@
-# Ultralytics YOLO 🚀, AGPL-3.0 license
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
 
 import numpy as np
 
+from ..utils import LOGGER
+from ..utils.ops import xywh2ltwh
 from .basetrack import BaseTrack, TrackState
 from .utils import matching
 from .utils.kalman_filter import KalmanFilterXYAH
-from ..utils.ops import xywh2ltwh
-from ..utils import LOGGER
 
 
 class STrack(BaseTrack):
@@ -25,7 +25,7 @@ class STrack(BaseTrack):
         is_activated (bool): Boolean flag indicating if the track has been activated.
         score (float): Confidence score of the track.
         tracklet_len (int): Length of the tracklet.
-        cls (any): Class label for the object.
+        cls (Any): Class label for the object.
         idx (int): Index or identifier for the object.
         frame_id (int): Current frame ID.
         start_frame (int): Frame where the object was first detected.
@@ -39,15 +39,34 @@ class STrack(BaseTrack):
         update(new_track, frame_id): Update the state of a matched track.
         convert_coords(tlwh): Convert bounding box to x-y-aspect-height format.
         tlwh_to_xyah(tlwh): Convert tlwh bounding box to xyah format.
+
+    Examples:
+        Initialize and activate a new track
+        >>> track = STrack(xywh=[100, 200, 50, 80, 0], score=0.9, cls="person")
+        >>> track.activate(kalman_filter=KalmanFilterXYAH(), frame_id=1)
     """
 
     shared_kalman = KalmanFilterXYAH()
 
     def __init__(self, xywh, score, cls):
-        """Initialize new STrack instance."""
+        """
+        Initialize a new STrack instance.
+
+        Args:
+            xywh (List[float]): Bounding box coordinates and dimensions in the format (x, y, w, h, [a], idx), where
+                (x, y) is the center, (w, h) are width and height, [a] is optional aspect ratio, and idx is the id.
+            score (float): Confidence score of the detection.
+            cls (Any): Class label for the detected object.
+
+        Examples:
+            >>> xywh = [100.0, 150.0, 50.0, 75.0, 1]
+            >>> score = 0.9
+            >>> cls = "person"
+            >>> track = STrack(xywh, score, cls)
+        """
         super().__init__()
         # xywh+idx or xywha+idx
-        assert len(xywh) in [5, 6], f"expected 5 or 6 values but got {len(xywh)}"
+        assert len(xywh) in {5, 6}, f"expected 5 or 6 values but got {len(xywh)}"
         self._tlwh = np.asarray(xywh2ltwh(xywh[:4]), dtype=np.float32)
         self.kalman_filter = None
         self.mean, self.covariance = None, None
@@ -60,7 +79,7 @@ class STrack(BaseTrack):
         self.angle = xywh[4] if len(xywh) == 6 else None
 
     def predict(self):
-        """Predicts mean and covariance using Kalman filter."""
+        """Predicts the next state (mean and covariance) of the object using the Kalman filter."""
         mean_state = self.mean.copy()
         if self.state != TrackState.Tracked:
             mean_state[7] = 0
@@ -68,7 +87,7 @@ class STrack(BaseTrack):
 
     @staticmethod
     def multi_predict(stracks):
-        """Perform multi-object predictive tracking using Kalman filter for given stracks."""
+        """Perform multi-object predictive tracking using Kalman filter for the provided list of STrack instances."""
         if len(stracks) <= 0:
             return
         multi_mean = np.asarray([st.mean.copy() for st in stracks])
@@ -83,7 +102,7 @@ class STrack(BaseTrack):
 
     @staticmethod
     def multi_gmc(stracks, H=np.eye(2, 3)):
-        """Update state tracks positions and covariances using a homography matrix."""
+        """Update state tracks positions and covariances using a homography matrix for multiple tracks."""
         if len(stracks) > 0:
             multi_mean = np.asarray([st.mean.copy() for st in stracks])
             multi_covariance = np.asarray([st.covariance for st in stracks])
@@ -101,7 +120,7 @@ class STrack(BaseTrack):
                 stracks[i].covariance = cov
 
     def activate(self, kalman_filter, frame_id):
-        """Start a new tracklet."""
+        """Activate a new tracklet using the provided Kalman filter and initialize its state and covariance."""
         self.kalman_filter = kalman_filter
         self.track_id = self.next_id()
         self.mean, self.covariance = self.kalman_filter.initiate(self.convert_coords(self._tlwh))
@@ -114,7 +133,7 @@ class STrack(BaseTrack):
         self.start_frame = frame_id
 
     def re_activate(self, new_track, frame_id, new_id=False):
-        """Reactivates a previously lost track with a new detection."""
+        """Reactivates a previously lost track using new detection data and updates its state and attributes."""
         self.mean, self.covariance = self.kalman_filter.update(
             self.mean, self.covariance, self.convert_coords(new_track.tlwh)
         )
@@ -136,6 +155,12 @@ class STrack(BaseTrack):
         Args:
             new_track (STrack): The new track containing updated information.
             frame_id (int): The ID of the current frame.
+
+        Examples:
+            Update the state of a track with new detection information
+            >>> track = STrack([100, 200, 50, 80, 0.9, 1])
+            >>> new_track = STrack([105, 205, 55, 85, 0.95, 1])
+            >>> track.update(new_track, 2)
         """
         self.frame_id = frame_id
         self.tracklet_len += 1
@@ -158,7 +183,7 @@ class STrack(BaseTrack):
 
     @property
     def tlwh(self):
-        """Get current position in bounding box format (top left x, top left y, width, height)."""
+        """Returns the bounding box in top-left-width-height format from the current state estimate."""
         if self.mean is None:
             return self._tlwh.copy()
         ret = self.mean[:4].copy()
@@ -168,16 +193,14 @@ class STrack(BaseTrack):
 
     @property
     def xyxy(self):
-        """Convert bounding box to format (min x, min y, max x, max y), i.e., (top left, bottom right)."""
+        """Converts bounding box from (top left x, top left y, width, height) to (min x, min y, max x, max y) format."""
         ret = self.tlwh.copy()
         ret[2:] += ret[:2]
         return ret
 
     @staticmethod
     def tlwh_to_xyah(tlwh):
-        """Convert bounding box to format (center x, center y, aspect ratio, height), where the aspect ratio is width /
-        height.
-        """
+        """Convert bounding box from tlwh format to center-x-center-y-aspect-height (xyah) format."""
         ret = np.asarray(tlwh).copy()
         ret[:2] += ret[2:] / 2
         ret[2] /= ret[3]
@@ -185,14 +208,14 @@ class STrack(BaseTrack):
 
     @property
     def xywh(self):
-        """Get current position in bounding box format (center x, center y, width, height)."""
+        """Returns the current position of the bounding box in (center x, center y, width, height) format."""
         ret = np.asarray(self.tlwh).copy()
         ret[:2] += ret[2:] / 2
         return ret
 
     @property
     def xywha(self):
-        """Get current position in bounding box format (center x, center y, width, height, angle)."""
+        """Returns position in (center x, center y, width, height, angle) format, warning if angle is missing."""
         if self.angle is None:
             LOGGER.warning("WARNING ⚠️ `angle` attr not found, returning `xywh` instead.")
             return self.xywh
@@ -200,12 +223,12 @@ class STrack(BaseTrack):
 
     @property
     def result(self):
-        """Get current tracking results."""
+        """Returns the current tracking results in the appropriate bounding box format."""
         coords = self.xyxy if self.angle is None else self.xywha
         return coords.tolist() + [self.track_id, self.score, self.cls, self.idx]
 
     def __repr__(self):
-        """Return a string representation of the BYTETracker object with start and end frames and track ID."""
+        """Returns a string representation of the STrack object including start frame, end frame, and track ID."""
         return f"OT_{self.track_id}_({self.start_frame}-{self.end_frame})"
 
 
@@ -213,18 +236,18 @@ class BYTETracker:
     """
     BYTETracker: A tracking algorithm built on top of YOLOv8 for object detection and tracking.
 
-    The class is responsible for initializing, updating, and managing the tracks for detected objects in a video
-    sequence. It maintains the state of tracked, lost, and removed tracks over frames, utilizes Kalman filtering for
-    predicting the new object locations, and performs data association.
+    Responsible for initializing, updating, and managing the tracks for detected objects in a video sequence.
+    It maintains the state of tracked, lost, and removed tracks over frames, utilizes Kalman filtering for predicting
+    the new object locations, and performs data association.
 
     Attributes:
-        tracked_stracks (list[STrack]): List of successfully activated tracks.
-        lost_stracks (list[STrack]): List of lost tracks.
-        removed_stracks (list[STrack]): List of removed tracks.
+        tracked_stracks (List[STrack]): List of successfully activated tracks.
+        lost_stracks (List[STrack]): List of lost tracks.
+        removed_stracks (List[STrack]): List of removed tracks.
         frame_id (int): The current frame ID.
-        args (namespace): Command-line arguments.
+        args (Namespace): Command-line arguments.
         max_time_lost (int): The maximum frames for a track to be considered as 'lost'.
-        kalman_filter (object): Kalman Filter object.
+        kalman_filter (KalmanFilterXYAH): Kalman Filter object.
 
     Methods:
         update(results, img=None): Updates object tracker with new detections.
@@ -236,10 +259,27 @@ class BYTETracker:
         joint_stracks(tlista, tlistb): Combines two lists of stracks.
         sub_stracks(tlista, tlistb): Filters out the stracks present in the second list from the first list.
         remove_duplicate_stracks(stracksa, stracksb): Removes duplicate stracks based on IoU.
+
+    Examples:
+        Initialize BYTETracker and update with detection results
+        >>> tracker = BYTETracker(args, frame_rate=30)
+        >>> results = yolo_model.detect(image)
+        >>> tracked_objects = tracker.update(results)
     """
 
     def __init__(self, args, frame_rate=30):
-        """Initialize a YOLOv8 object to track objects with given arguments and frame rate."""
+        """
+        Initialize a BYTETracker instance for object tracking.
+
+        Args:
+            args (Namespace): Command-line arguments containing tracking parameters.
+            frame_rate (int): Frame rate of the video sequence.
+
+        Examples:
+            Initialize BYTETracker with command-line arguments and a frame rate of 30
+            >>> args = Namespace(track_buffer=30)
+            >>> tracker = BYTETracker(args, frame_rate=30)
+        """
         self.tracked_stracks = []  # type: list[STrack]
         self.lost_stracks = []  # type: list[STrack]
         self.removed_stracks = []  # type: list[STrack]
@@ -251,7 +291,7 @@ class BYTETracker:
         self.reset_id()
 
     def update(self, results, img=None):
-        """Updates object tracker with new detections and returns tracked object bounding boxes."""
+        """Updates the tracker with new detections and returns the current list of tracked objects."""
         self.frame_id += 1
         activated_stracks = []
         refind_stracks = []
@@ -264,11 +304,11 @@ class BYTETracker:
         bboxes = np.concatenate([bboxes, np.arange(len(bboxes)).reshape(-1, 1)], axis=-1)
         cls = results.cls
 
-        remain_inds = scores > self.args.track_high_thresh
+        remain_inds = scores >= self.args.track_high_thresh
         inds_low = scores > self.args.track_low_thresh
         inds_high = scores < self.args.track_high_thresh
 
-        inds_second = np.logical_and(inds_low, inds_high)
+        inds_second = inds_low & inds_high
         dets_second = bboxes[inds_second]
         dets = bboxes[remain_inds]
         scores_keep = scores[remain_inds]
@@ -365,32 +405,31 @@ class BYTETracker:
         return np.asarray([x.result for x in self.tracked_stracks if x.is_activated], dtype=np.float32)
 
     def get_kalmanfilter(self):
-        """Returns a Kalman filter object for tracking bounding boxes."""
+        """Returns a Kalman filter object for tracking bounding boxes using KalmanFilterXYAH."""
         return KalmanFilterXYAH()
 
     def init_track(self, dets, scores, cls, img=None):
-        """Initialize object tracking with detections and scores using STrack algorithm."""
+        """Initializes object tracking with given detections, scores, and class labels using the STrack algorithm."""
         return [STrack(xyxy, s, c) for (xyxy, s, c) in zip(dets, scores, cls)] if len(dets) else []  # detections
 
     def get_dists(self, tracks, detections):
-        """Calculates the distance between tracks and detections using IoU and fuses scores."""
+        """Calculates the distance between tracks and detections using IoU and optionally fuses scores."""
         dists = matching.iou_distance(tracks, detections)
-        # TODO: mot20
-        # if not self.args.mot20:
-        dists = matching.fuse_score(dists, detections)
+        if self.args.fuse_score:
+            dists = matching.fuse_score(dists, detections)
         return dists
 
     def multi_predict(self, tracks):
-        """Returns the predicted tracks using the YOLOv8 network."""
+        """Predict the next states for multiple tracks using Kalman filter."""
         STrack.multi_predict(tracks)
 
     @staticmethod
     def reset_id():
-        """Resets the ID counter of STrack."""
+        """Resets the ID counter for STrack instances to ensure unique track IDs across tracking sessions."""
         STrack.reset_id()
 
     def reset(self):
-        """Reset tracker."""
+        """Resets the tracker by clearing all tracked, lost, and removed tracks and reinitializing the Kalman filter."""
         self.tracked_stracks = []  # type: list[STrack]
         self.lost_stracks = []  # type: list[STrack]
         self.removed_stracks = []  # type: list[STrack]
@@ -400,7 +439,7 @@ class BYTETracker:
 
     @staticmethod
     def joint_stracks(tlista, tlistb):
-        """Combine two lists of stracks into a single one."""
+        """Combines two lists of STrack objects into a single list, ensuring no duplicates based on track IDs."""
         exists = {}
         res = []
         for t in tlista:
@@ -415,20 +454,13 @@ class BYTETracker:
 
     @staticmethod
     def sub_stracks(tlista, tlistb):
-        """DEPRECATED CODE in https://github.com/ultralytics/ultralytics/pull/1890/
-        stracks = {t.track_id: t for t in tlista}
-        for t in tlistb:
-            tid = t.track_id
-            if stracks.get(tid, 0):
-                del stracks[tid]
-        return list(stracks.values())
-        """
+        """Filters out the stracks present in the second list from the first list."""
         track_ids_b = {t.track_id for t in tlistb}
         return [t for t in tlista if t.track_id not in track_ids_b]
 
     @staticmethod
     def remove_duplicate_stracks(stracksa, stracksb):
-        """Remove duplicate stracks with non-maximum IoU distance."""
+        """Removes duplicate stracks from two lists based on Intersection over Union (IoU) distance."""
         pdist = matching.iou_distance(stracksa, stracksb)
         pairs = np.where(pdist < 0.15)
         dupa, dupb = [], []

ultralytics/trackers/track.py

@@ -1,4 +1,4 @@
-# Ultralytics YOLO 🚀, AGPL-3.0 license
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
 
 from functools import partial
 from pathlib import Path
@@ -7,6 +7,7 @@ import torch
 
 from ultralytics.utils import IterableSimpleNamespace, yaml_load
 from ultralytics.utils.checks import check_yaml
+
 from .bot_sort import BOTSORT
 from .byte_tracker import BYTETracker
 
@@ -20,10 +21,15 @@ def on_predict_start(predictor: object, persist: bool = False) -> None:
 
     Args:
         predictor (object): The predictor object to initialize trackers for.
-        persist (bool, optional): Whether to persist the trackers if they already exist. Defaults to False.
+        persist (bool): Whether to persist the trackers if they already exist.
 
     Raises:
         AssertionError: If the tracker_type is not 'bytetrack' or 'botsort'.
+
+    Examples:
+        Initialize trackers for a predictor object:
+        >>> predictor = SomePredictorClass()
+        >>> on_predict_start(predictor, persist=True)
     """
     if hasattr(predictor, "trackers") and persist:
         return
@@ -31,7 +37,7 @@ def on_predict_start(predictor: object, persist: bool = False) -> None:
     tracker = check_yaml(predictor.args.tracker)
     cfg = IterableSimpleNamespace(**yaml_load(tracker))
 
-    if cfg.tracker_type not in ["bytetrack", "botsort"]:
+    if cfg.tracker_type not in {"bytetrack", "botsort"}:
         raise AssertionError(f"Only 'bytetrack' and 'botsort' are supported for now, but got '{cfg.tracker_type}'")
 
     trackers = []
@@ -50,7 +56,12 @@ def on_predict_postprocess_end(predictor: object, persist: bool = False) -> None
 
     Args:
         predictor (object): The predictor object containing the predictions.
-        persist (bool, optional): Whether to persist the trackers if they already exist. Defaults to False.
+        persist (bool): Whether to persist the trackers if they already exist.
+
+    Examples:
+        Postprocess predictions and update with tracking
+        >>> predictor = YourPredictorClass()
+        >>> on_predict_postprocess_end(predictor, persist=True)
     """
     path, im0s = predictor.batch[:2]
 
@@ -72,8 +83,7 @@ def on_predict_postprocess_end(predictor: object, persist: bool = False) -> None
         idx = tracks[:, -1].astype(int)
         predictor.results[i] = predictor.results[i][idx]
 
-        update_args = dict()
-        update_args["obb" if is_obb else "boxes"] = torch.as_tensor(tracks[:, :-1])
+        update_args = {"obb" if is_obb else "boxes": torch.as_tensor(tracks[:, :-1])}
         predictor.results[i].update(**update_args)
 
 
@@ -84,6 +94,11 @@ def register_tracker(model: object, persist: bool) -> None:
     Args:
         model (object): The model object to register tracking callbacks for.
         persist (bool): Whether to persist the trackers if they already exist.
+
+    Examples:
+        Register tracking callbacks to a YOLO model
+        >>> model = YOLOModel()
+        >>> register_tracker(model, persist=True)
     """
     model.add_callback("on_predict_start", partial(on_predict_start, persist=persist))
     model.add_callback("on_predict_postprocess_end", partial(on_predict_postprocess_end, persist=persist))

ultralytics/trackers/utils/__init__.py

@@ -1 +1 @@
-# Ultralytics YOLO 🚀, AGPL-3.0 license
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license

ultralytics/trackers/utils/gmc.py

@@ -1,4 +1,4 @@
-# Ultralytics YOLO 🚀, AGPL-3.0 license
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
 
 import copy
 
@@ -19,32 +19,44 @@ class GMC:
         method (str): The method used for tracking. Options include 'orb', 'sift', 'ecc', 'sparseOptFlow', 'none'.
         downscale (int): Factor by which to downscale the frames for processing.
         prevFrame (np.ndarray): Stores the previous frame for tracking.
-        prevKeyPoints (list): Stores the keypoints from the previous frame.
+        prevKeyPoints (List): Stores the keypoints from the previous frame.
         prevDescriptors (np.ndarray): Stores the descriptors from the previous frame.
         initializedFirstFrame (bool): Flag to indicate if the first frame has been processed.
 
     Methods:
-        __init__(self, method='sparseOptFlow', downscale=2): Initializes a GMC object with the specified method
-                                                              and downscale factor.
-        apply(self, raw_frame, detections=None): Applies the chosen method to a raw frame and optionally uses
-                                                 provided detections.
-        applyEcc(self, raw_frame, detections=None): Applies the ECC algorithm to a raw frame.
-        applyFeatures(self, raw_frame, detections=None): Applies feature-based methods like ORB or SIFT to a raw frame.
-        applySparseOptFlow(self, raw_frame, detections=None): Applies the Sparse Optical Flow method to a raw frame.
+        __init__: Initializes a GMC object with the specified method and downscale factor.
+        apply: Applies the chosen method to a raw frame and optionally uses provided detections.
+        apply_ecc: Applies the ECC algorithm to a raw frame.
+        apply_features: Applies feature-based methods like ORB or SIFT to a raw frame.
+        apply_sparseoptflow: Applies the Sparse Optical Flow method to a raw frame.
+        reset_params: Resets the internal parameters of the GMC object.
+
+    Examples:
+        Create a GMC object and apply it to a frame
+        >>> gmc = GMC(method="sparseOptFlow", downscale=2)
+        >>> frame = np.array([[1, 2, 3], [4, 5, 6]])
+        >>> processed_frame = gmc.apply(frame)
+        >>> print(processed_frame)
+        array([[1, 2, 3],
+               [4, 5, 6]])
     """
 
     def __init__(self, method: str = "sparseOptFlow", downscale: int = 2) -> None:
         """
-        Initialize a video tracker with specified parameters.
+        Initialize a Generalized Motion Compensation (GMC) object with tracking method and downscale factor.
 
         Args:
             method (str): The method used for tracking. Options include 'orb', 'sift', 'ecc', 'sparseOptFlow', 'none'.
             downscale (int): Downscale factor for processing frames.
+
+        Examples:
+            Initialize a GMC object with the 'sparseOptFlow' method and a downscale factor of 2
+            >>> gmc = GMC(method="sparseOptFlow", downscale=2)
         """
         super().__init__()
 
         self.method = method
-        self.downscale = max(1, int(downscale))
+        self.downscale = max(1, downscale)
 
         if self.method == "orb":
             self.detector = cv2.FastFeatureDetector_create(20)
@@ -79,45 +91,47 @@ class GMC:
 
     def apply(self, raw_frame: np.array, detections: list = None) -> np.array:
         """
-        Apply object detection on a raw frame using specified method.
+        Apply object detection on a raw frame using the specified method.
 
         Args:
-            raw_frame (np.ndarray): The raw frame to be processed.
-            detections (list): List of detections to be used in the processing.
+            raw_frame (np.ndarray): The raw frame to be processed, with shape (H, W, C).
+            detections (List | None): List of detections to be used in the processing.
 
         Returns:
-            (np.ndarray): Processed frame.
+            (np.ndarray): Processed frame with applied object detection.
 
         Examples:
-            >>> gmc = GMC()
-            >>> gmc.apply(np.array([[1, 2, 3], [4, 5, 6]]))
-            array([[1, 2, 3],
-                   [4, 5, 6]])
+            >>> gmc = GMC(method="sparseOptFlow")
+            >>> raw_frame = np.random.rand(480, 640, 3)
+            >>> processed_frame = gmc.apply(raw_frame)
+            >>> print(processed_frame.shape)
+            (480, 640, 3)
         """
-        if self.method in ["orb", "sift"]:
-            return self.applyFeatures(raw_frame, detections)
+        if self.method in {"orb", "sift"}:
+            return self.apply_features(raw_frame, detections)
         elif self.method == "ecc":
-            return self.applyEcc(raw_frame)
+            return self.apply_ecc(raw_frame)
         elif self.method == "sparseOptFlow":
-            return self.applySparseOptFlow(raw_frame)
+            return self.apply_sparseoptflow(raw_frame)
         else:
             return np.eye(2, 3)
 
-    def applyEcc(self, raw_frame: np.array) -> np.array:
+    def apply_ecc(self, raw_frame: np.array) -> np.array:
         """
-        Apply ECC algorithm to a raw frame.
+        Apply the ECC (Enhanced Correlation Coefficient) algorithm to a raw frame for motion compensation.
 
         Args:
-            raw_frame (np.ndarray): The raw frame to be processed.
+            raw_frame (np.ndarray): The raw frame to be processed, with shape (H, W, C).
 
         Returns:
-            (np.ndarray): Processed frame.
+            (np.ndarray): The processed frame with the applied ECC transformation.
 
         Examples:
-            >>> gmc = GMC()
-            >>> gmc.applyEcc(np.array([[1, 2, 3], [4, 5, 6]]))
-            array([[1, 2, 3],
-                   [4, 5, 6]])
+            >>> gmc = GMC(method="ecc")
+            >>> processed_frame = gmc.apply_ecc(np.array([[[1, 2, 3], [4, 5, 6]], [[7, 8, 9], [10, 11, 12]]]))
+            >>> print(processed_frame)
+            [[1. 0. 0.]
+             [0. 1. 0.]]
         """
         height, width, _ = raw_frame.shape
         frame = cv2.cvtColor(raw_frame, cv2.COLOR_BGR2GRAY)
@@ -127,8 +141,6 @@ class GMC:
         if self.downscale > 1.0:
             frame = cv2.GaussianBlur(frame, (3, 3), 1.5)
             frame = cv2.resize(frame, (width // self.downscale, height // self.downscale))
-            width = width // self.downscale
-            height = height // self.downscale
 
         # Handle first frame
         if not self.initializedFirstFrame:
@@ -149,22 +161,23 @@ class GMC:
 
         return H
 
-    def applyFeatures(self, raw_frame: np.array, detections: list = None) -> np.array:
+    def apply_features(self, raw_frame: np.array, detections: list = None) -> np.array:
         """
         Apply feature-based methods like ORB or SIFT to a raw frame.
 
         Args:
-            raw_frame (np.ndarray): The raw frame to be processed.
-            detections (list): List of detections to be used in the processing.
+            raw_frame (np.ndarray): The raw frame to be processed, with shape (H, W, C).
+            detections (List | None): List of detections to be used in the processing.
 
         Returns:
             (np.ndarray): Processed frame.
 
         Examples:
-            >>> gmc = GMC()
-            >>> gmc.applyFeatures(np.array([[1, 2, 3], [4, 5, 6]]))
-            array([[1, 2, 3],
-                   [4, 5, 6]])
+            >>> gmc = GMC(method="orb")
+            >>> raw_frame = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
+            >>> processed_frame = gmc.apply_features(raw_frame)
+            >>> print(processed_frame.shape)
+            (2, 3)
         """
         height, width, _ = raw_frame.shape
         frame = cv2.cvtColor(raw_frame, cv2.COLOR_BGR2GRAY)
@@ -291,21 +304,22 @@ class GMC:
 
         return H
 
-    def applySparseOptFlow(self, raw_frame: np.array) -> np.array:
+    def apply_sparseoptflow(self, raw_frame: np.array) -> np.array:
         """
         Apply Sparse Optical Flow method to a raw frame.
 
         Args:
-            raw_frame (np.ndarray): The raw frame to be processed.
+            raw_frame (np.ndarray): The raw frame to be processed, with shape (H, W, C).
 
         Returns:
-            (np.ndarray): Processed frame.
+            (np.ndarray): Processed frame with shape (2, 3).
 
         Examples:
             >>> gmc = GMC()
-            >>> gmc.applySparseOptFlow(np.array([[1, 2, 3], [4, 5, 6]]))
-            array([[1, 2, 3],
-                   [4, 5, 6]])
+            >>> result = gmc.apply_sparseoptflow(np.array([[[1, 2, 3], [4, 5, 6]], [[7, 8, 9], [10, 11, 12]]]))
+            >>> print(result)
+            [[1. 0. 0.]
+             [0. 1. 0.]]
         """
         height, width, _ = raw_frame.shape
         frame = cv2.cvtColor(raw_frame, cv2.COLOR_BGR2GRAY)
@@ -319,7 +333,7 @@ class GMC:
         keypoints = cv2.goodFeaturesToTrack(frame, mask=None, **self.feature_params)
 
         # Handle first frame
-        if not self.initializedFirstFrame:
+        if not self.initializedFirstFrame or self.prevKeyPoints is None:
             self.prevFrame = frame.copy()
             self.prevKeyPoints = copy.copy(keypoints)
             self.initializedFirstFrame = True
@@ -356,7 +370,7 @@ class GMC:
         return H
 
     def reset_params(self) -> None:
-        """Reset parameters."""
+        """Reset the internal parameters including previous frame, keypoints, and descriptors."""
         self.prevFrame = None
         self.prevKeyPoints = None
         self.prevDescriptors = None