IndexError for HybridSort tracker

[RenzoMinelli]

Search before asking

• I have searched the Yolo Tracking issues and discussions and found no similar questions.

Yolo Tracking Component

Tracking

Bug

I'm running HybridSort with Yolov8 L, when processing image 100 it raises an IndexError exception in the file boxmot/motion/kalman_filters/hybridsort_kf.py in line 399.

Traceback

image 100/147 /home/renzo/catkin_ws/left_rgb_images/484573000000.png: 640x640 92 apples, 981.2ms
Traceback (most recent call last):
  File "yolo_tracking/tracking/track.py", line 172, in <module>
    run(opt)
  File "/home/renzo/.cache/pypoetry/virtualenvs/boxmot-kj4Ofkam-py3.8/lib/python3.8/site-packages/torch/utils/_contextlib.py", line 115, in decorate_context
    return func(*args, **kwargs)
  File "yolo_tracking/tracking/track.py", line 101, in run
    for r in results:
  File "/home/renzo/.cache/pypoetry/virtualenvs/boxmot-kj4Ofkam-py3.8/lib/python3.8/site-packages/torch/utils/_contextlib.py", line 56, in generator_context
    response = gen.send(request)
  File "/home/renzo/.cache/pypoetry/virtualenvs/boxmot-kj4Ofkam-py3.8/lib/python3.8/site-packages/ultralytics/engine/predictor.py", line 274, in stream_inference
    self.run_callbacks('on_predict_postprocess_end')
  File "/home/renzo/.cache/pypoetry/virtualenvs/boxmot-kj4Ofkam-py3.8/lib/python3.8/site-packages/ultralytics/engine/predictor.py", line 377, in run_callbacks
    callback(self)
  File "/home/renzo/.cache/pypoetry/virtualenvs/boxmot-kj4Ofkam-py3.8/lib/python3.8/site-packages/ultralytics/trackers/track.py", line 60, in on_predict_postprocess_end
    tracks = predictor.trackers[i].update(det, im0s[i])
  File "/home/renzo/catkin_ws/yolo_tracking/boxmot/utils/__init__.py", line 79, in wrapper
    tracks = self.update(instance, dets, im)
  File "/home/renzo/catkin_ws/yolo_tracking/boxmot/trackers/hybridsort/hybridsort.py", line 469, in update
    self.active_tracks[m[1]].update(dets[m[0], :], dets0[m[0], 5], dets0[m[0], 6], id_feature_keep[m[0], :])
  File "/home/renzo/catkin_ws/yolo_tracking/boxmot/trackers/hybridsort/hybridsort.py", line 286, in update
    self.kf.update(convert_bbox_to_z(bbox))
  File "/home/renzo/catkin_ws/yolo_tracking/boxmot/motion/kalman_filters/hybridsort_kf.py", line 489, in update
    self.unfreeze()
  File "/home/renzo/catkin_ws/yolo_tracking/boxmot/motion/kalman_filters/hybridsort_kf.py", line 401, in unfreeze
    index1 = indices[-2]
IndexError: index -2 is out of bounds for axis 0 with size 1

Environment

Python 3.8.10
ultralytics 8.0.228
Yolo v8 Large
ROS noetic

Minimal Reproducible Example

python3 yolo_tracking/tracking/track.py --yolo-model weights/yolov8l_150.pt --tracking-method hybridsort --source left_rgb_images --save --save-txt

[AloysiusChua0822]

I am having the same issue here

[mikel-brostrom]

What is you max_age?

[mikel-brostrom]

Is this value greater than 50? This is, the deque length

[RenzoMinelli]

I'm using the default, 130.

[mikel-brostrom]

I see. Just set this value less than 50. The crash happens due to the deque size storing the observations being smaller than the max age. Alternatively you can set the observation deque to be larger than 130.

[github-actions]

👋 Hello, this issue has been automatically marked as stale because it has not had recent activity. Please note it will be closed if no further activity occurs.
Feel free to inform us of any other issues you discover or feature requests that come to mind in the future. Pull Requests (PRs) are also always welcomed!