`bbox` and `masks` coloring based on `track-ids` (#16073)

Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
Co-authored-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: Laughing <61612323+Laughing-q@users.noreply.github.com>
Co-authored-by: Ultralytics Assistant <135830346+UltralyticsAssistant@users.noreply.github.com>

ultralytics/engine/results.py

@@ -522,7 +522,13 @@ class Results(SimpleClass):
                     .contiguous()
                     / 255
                 )
-            idx = pred_boxes.cls if pred_boxes and color_mode == "class" else reversed(range(len(pred_masks)))
+            idx = (
+                pred_boxes.id
+                if pred_boxes.id is not None and color_mode == "instance"
+                else pred_boxes.cls
+                if pred_boxes and color_mode == "class"
+                else reversed(range(len(pred_masks)))
+            )
             annotator.masks(pred_masks.data, colors=[colors(x, True) for x in idx], im_gpu=im_gpu)
 
         # Plot Detect results
@@ -535,7 +541,16 @@ class Results(SimpleClass):
                 annotator.box_label(
                     box,
                     label,
-                    color=colors(i if color_mode == "instance" else c, True),
+                    color=colors(
+                        c
+                        if color_mode == "class"
+                        else id
+                        if id is not None
+                        else i
+                        if color_mode == "instance"
+                        else None,
+                        True,
+                    ),
                     rotated=is_obb,
                 )