diff --git a/.gitignore b/.gitignore
index 7707809..b9eba7c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,7 +9,7 @@ build/*
 _C.*
 outputs/*
 checkpoints/*.pt
-
+*test*
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
diff --git a/README.md b/README.md
index dcabf36..cb798a8 100644
--- a/README.md
+++ b/README.md
@@ -167,6 +167,33 @@ And we will automatically save the tracking visualization results in `OUTPUT_VID
 > [!WARNING]
 > We initialize the box prompts on the first frame of the input video. If you want to start from different frame, you can refine `ann_frame_idx` by yourself in our code.
 
+### Grounded-SAM-2  Video Object Tracking with Continuous ID (with Grounding DINO)
+Users can upload their own video files and specify custom text prompts for grounding and tracking using the Grounding DINO and SAM 2 frameworks. To do this, execute the script:
+
+
+```python 
+grounded_sam2_tracking_demo_with_continuous_id.py
+```
+
+You can customize various parameters including:
+
+- `text`: The grounding text prompt.
+- `video_dir`: Directory containing the video files.
+- `output_dir`: Directory to save the processed output.
+- `output_video_path`: Path for the output video.
+- `step`: Frame stepping for processing.
+- `box_threshold`: box threshold for groundingdino model
+- `text_threshold`: text threshold for groundingdino model
+Note: This method supports only the mask type of text prompt.
+
+The demo video is:
+[![car tracking demo data](./assets/tracking_car_1.jpg)](./assets/tracking_car.mp4)
+
+
+After running our demo code, you can get the tracking results as follows:
+[![car tracking result data](./assets/tracking_car_mask_1.jpg)](./assets/tracking_car_output.mp4)
+
+
 ### Citation
 
 If you find this project helpful for your research, please consider citing the following BibTeX entry.
diff --git a/assets/tracking_car.mp4 b/assets/tracking_car.mp4
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index 0000000..8994f8d
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diff --git a/assets/tracking_car_1.jpg b/assets/tracking_car_1.jpg
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index 0000000..9710271
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diff --git a/assets/tracking_car_mask_1.jpg b/assets/tracking_car_mask_1.jpg
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index 0000000..d628600
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diff --git a/assets/tracking_car_output.mp4 b/assets/tracking_car_output.mp4
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index 0000000..05aa993
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diff --git a/assets/zebra.mp4 b/assets/zebra.mp4
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index 0000000..099eefa
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diff --git a/assets/zebra_output.mp4 b/assets/zebra_output.mp4
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diff --git a/grounded_sam2_hf_model_demo.py b/grounded_sam2_hf_model_demo.py
index 10353fa..273a6e6 100644
--- a/grounded_sam2_hf_model_demo.py
+++ b/grounded_sam2_hf_model_demo.py
@@ -3,7 +3,7 @@ import torch
 import numpy as np
 import supervision as sv
 from supervision.draw.color import ColorPalette
-from supervision_utils import CUSTOM_COLOR_MAP
+from utils.supervision_utils import CUSTOM_COLOR_MAP
 from PIL import Image
 from sam2.build_sam import build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor
diff --git a/grounded_sam2_tracking_demo.py b/grounded_sam2_tracking_demo.py
index 566c4a3..4e7b7a4 100644
--- a/grounded_sam2_tracking_demo.py
+++ b/grounded_sam2_tracking_demo.py
@@ -7,8 +7,8 @@ from PIL import Image
 from sam2.build_sam import build_sam2_video_predictor, build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor
 from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection 
-from track_utils import sample_points_from_masks
-from video_utils import create_video_from_images
+from utils.track_utils import sample_points_from_masks
+from utils.video_utils import create_video_from_images
 
 
 """
@@ -40,10 +40,11 @@ grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).
 
 # setup the input image and text prompt for SAM 2 and Grounding DINO
 # VERY important: text queries need to be lowercased + end with a dot
-text = "children."
+text = "car."
 
-# `video_dir` a directory of JPEG frames with filenames like `<frame_index>.jpg`
-video_dir = "notebooks/videos/bedroom"
+# `video_dir` a directory of JPEG frames with filenames like `<frame_index>.jpg`  
+
+video_dir = "notebooks/videos/car"
 
 # scan all the JPEG frame names in this directory
 frame_names = [
diff --git a/grounded_sam2_tracking_demo_custom_video_input_gd1.0_hf_model.py b/grounded_sam2_tracking_demo_custom_video_input_gd1.0_hf_model.py
index 742294e..29a25c6 100644
--- a/grounded_sam2_tracking_demo_custom_video_input_gd1.0_hf_model.py
+++ b/grounded_sam2_tracking_demo_custom_video_input_gd1.0_hf_model.py
@@ -10,8 +10,8 @@ from PIL import Image
 from sam2.build_sam import build_sam2_video_predictor, build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor 
 from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection
-from track_utils import sample_points_from_masks
-from video_utils import create_video_from_images
+from utils.track_utils import sample_points_from_masks
+from utils.video_utils import create_video_from_images
 
 """
 Hyperparam for Ground and Tracking
diff --git a/grounded_sam2_tracking_demo_custom_video_input_gd1.5.py b/grounded_sam2_tracking_demo_custom_video_input_gd1.5.py
index 9999145..663e9fe 100644
--- a/grounded_sam2_tracking_demo_custom_video_input_gd1.5.py
+++ b/grounded_sam2_tracking_demo_custom_video_input_gd1.5.py
@@ -17,8 +17,8 @@ from tqdm import tqdm
 from PIL import Image
 from sam2.build_sam import build_sam2_video_predictor, build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor 
-from track_utils import sample_points_from_masks
-from video_utils import create_video_from_images
+from utils.track_utils import sample_points_from_masks
+from utils.video_utils import create_video_from_images
 
 """
 Hyperparam for Ground and Tracking
diff --git a/grounded_sam2_tracking_demo_with_continuous_id.py b/grounded_sam2_tracking_demo_with_continuous_id.py
new file mode 100644
index 0000000..3568ae3
--- /dev/null
+++ b/grounded_sam2_tracking_demo_with_continuous_id.py
@@ -0,0 +1,198 @@
+import os
+import cv2
+import torch
+import numpy as np
+import supervision as sv
+from PIL import Image
+from sam2.build_sam import build_sam2_video_predictor, build_sam2
+from sam2.sam2_image_predictor import SAM2ImagePredictor
+from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection 
+from utils.track_utils import sample_points_from_masks
+from utils.video_utils import create_video_from_images
+from utils.common_utils import CommonUtils
+from utils.mask_dictionary_model import MaskDictionatyModel, ObjectInfo
+import json
+import copy
+
+"""
+Step 1: Environment settings and model initialization
+"""
+# use bfloat16 for the entire notebook
+torch.autocast(device_type="cuda", dtype=torch.bfloat16).__enter__()
+
+if torch.cuda.get_device_properties(0).major >= 8:
+    # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices)
+    torch.backends.cuda.matmul.allow_tf32 = True
+    torch.backends.cudnn.allow_tf32 = True
+
+# init sam image predictor and video predictor model
+sam2_checkpoint = "./checkpoints/sam2_hiera_large.pt"
+model_cfg = "sam2_hiera_l.yaml"
+device = "cuda" if torch.cuda.is_available() else "cpu"
+print("device",device)
+
+video_predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint)
+sam2_image_model = build_sam2(model_cfg, sam2_checkpoint, device=device)
+image_predictor = SAM2ImagePredictor(sam2_image_model)
+
+
+# init grounding dino model from huggingface
+model_id = "IDEA-Research/grounding-dino-tiny"
+processor = AutoProcessor.from_pretrained(model_id)
+grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to(device)
+
+
+# setup the input image and text prompt for SAM 2 and Grounding DINO
+# VERY important: text queries need to be lowercased + end with a dot
+text = "car."
+
+# `video_dir` a directory of JPEG frames with filenames like `<frame_index>.jpg`  
+video_dir = "notebooks/videos/car"
+# 'output_dir' is the directory to save the annotated frames
+output_dir = "./outputs"
+# 'output_video_path' is the path to save the final video
+output_video_path = "./outputs/output.mp4"
+# create the output directory
+CommonUtils.creat_dirs(output_dir)
+mask_data_dir = os.path.join(output_dir, "mask_data")
+json_data_dir = os.path.join(output_dir, "json_data")
+result_dir = os.path.join(output_dir, "result")
+CommonUtils.creat_dirs(mask_data_dir)
+CommonUtils.creat_dirs(json_data_dir)
+# scan all the JPEG frame names in this directory
+frame_names = [
+    p for p in os.listdir(video_dir)
+    if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"]
+]
+frame_names.sort(key=lambda p: int(os.path.splitext(p)[0]))
+
+# init video predictor state
+inference_state = video_predictor.init_state(video_path=video_dir)
+step = 10 # the step to sample frames for groundedDino predictor
+
+sam2_masks = MaskDictionatyModel()
+PROMPT_TYPE_FOR_VIDEO = "mask" # box, mask or point
+objects_count = 0
+
+"""
+Step 2: Prompt Grounding DINO and SAM image predictor to get the box and mask for all frames
+"""
+print("Total frames:", len(frame_names))
+for start_frame_idx in range(0, len(frame_names), step):
+# prompt grounding dino to get the box coordinates on specific frame
+    print("start_frame_idx", start_frame_idx)
+    # continue
+    img_path = os.path.join(video_dir, frame_names[start_frame_idx])
+    image = Image.open(img_path)
+    image_base_name = frame_names[start_frame_idx].split(".")[0]
+    mask_dict = MaskDictionatyModel(promote_type = PROMPT_TYPE_FOR_VIDEO, mask_name = f"mask_{image_base_name}.npy")
+
+    # run Grounding DINO on the image
+    inputs = processor(images=image, text=text, return_tensors="pt").to(device)
+    with torch.no_grad():
+        outputs = grounding_model(**inputs)
+
+    results = processor.post_process_grounded_object_detection(
+        outputs,
+        inputs.input_ids,
+        box_threshold=0.25,
+        text_threshold=0.25,
+        target_sizes=[image.size[::-1]]
+    )
+
+    # prompt SAM image predictor to get the mask for the object
+    image_predictor.set_image(np.array(image.convert("RGB")))
+
+    # process the detection results
+    input_boxes = results[0]["boxes"] # .cpu().numpy()
+    # print("results[0]",results[0])
+    OBJECTS = results[0]["labels"]
+
+    # prompt SAM 2 image predictor to get the mask for the object
+    masks, scores, logits = image_predictor.predict(
+        point_coords=None,
+        point_labels=None,
+        box=input_boxes,
+        multimask_output=False,
+    )
+    # convert the mask shape to (n, H, W)
+    if masks.ndim == 2:
+        masks = masks[None]
+        scores = scores[None]
+        logits = logits[None]
+    elif masks.ndim == 4:
+        masks = masks.squeeze(1)
+
+    """
+    Step 3: Register each object's positive points to video predictor
+    """
+
+    # If you are using point prompts, we uniformly sample positive points based on the mask
+    if mask_dict.promote_type == "mask":
+        mask_dict.add_new_frame_annotation(mask_list=torch.tensor(masks).to(device), box_list=torch.tensor(input_boxes), label_list=OBJECTS)
+    else:
+        raise NotImplementedError("SAM 2 video predictor only support mask prompts")
+
+
+    """
+    Step 4: Propagate the video predictor to get the segmentation results for each frame
+    """
+    objects_count = mask_dict.update_masks(tracking_annotation_dict=sam2_masks, iou_threshold=0.8, objects_count=objects_count)
+    print("objects_count", objects_count)
+    video_predictor.reset_state(inference_state)
+    if len(mask_dict.labels) == 0:
+        print("No object detected in the frame, skip the frame {}".format(start_frame_idx))
+        continue
+    video_predictor.reset_state(inference_state)
+
+    for object_id, object_info in mask_dict.labels.items():
+        frame_idx, out_obj_ids, out_mask_logits = video_predictor.add_new_mask(
+                inference_state,
+                start_frame_idx,
+                object_id,
+                object_info.mask,
+            )
+    
+    video_segments = {}  # output the following {step} frames tracking masks
+    for out_frame_idx, out_obj_ids, out_mask_logits in video_predictor.propagate_in_video(inference_state, max_frame_num_to_track=step, start_frame_idx=start_frame_idx):
+        frame_masks = MaskDictionatyModel()
+        
+        for i, out_obj_id in enumerate(out_obj_ids):
+            out_mask = (out_mask_logits[i] > 0.0) # .cpu().numpy()
+            object_info = ObjectInfo(instance_id = out_obj_id, mask = out_mask[0], class_name = mask_dict.get_target_class_name(out_obj_id))
+            object_info.update_box()
+            frame_masks.labels[out_obj_id] = object_info
+            image_base_name = frame_names[out_frame_idx].split(".")[0]
+            frame_masks.mask_name = f"mask_{image_base_name}.npy"
+            frame_masks.mask_height = out_mask.shape[-2]
+            frame_masks.mask_width = out_mask.shape[-1]
+
+        video_segments[out_frame_idx] = frame_masks
+        sam2_masks = copy.deepcopy(frame_masks)
+
+    print("video_segments:", len(video_segments))
+    """
+    Step 5: save the tracking masks and json files
+    """
+    for frame_idx, frame_masks_info in video_segments.items():
+        mask = frame_masks_info.labels
+        mask_img = torch.zeros(frame_masks_info.mask_height, frame_masks_info.mask_width)
+        for obj_id, obj_info in mask.items():
+            mask_img[obj_info.mask == True] = obj_id
+
+        mask_img = mask_img.numpy().astype(np.uint16)
+        np.save(os.path.join(mask_data_dir, frame_masks_info.mask_name), mask_img)
+
+        json_data = frame_masks_info.to_dict()
+        json_data_path = os.path.join(json_data_dir, frame_masks_info.mask_name.replace(".npy", ".json"))
+        with open(json_data_path, "w") as f:
+            json.dump(json_data, f)
+
+
+
+"""
+Step 6: Draw the results and save the video
+"""
+CommonUtils.draw_masks_and_box(video_dir, mask_data_dir, json_data_dir, result_dir)
+
+create_video_from_images(result_dir, output_video_path, frame_rate=15)
\ No newline at end of file
diff --git a/grounded_sam2_tracking_demo_with_gd1.5.py b/grounded_sam2_tracking_demo_with_gd1.5.py
index 13f0f7d..8be2daa 100644
--- a/grounded_sam2_tracking_demo_with_gd1.5.py
+++ b/grounded_sam2_tracking_demo_with_gd1.5.py
@@ -14,8 +14,8 @@ import supervision as sv
 from PIL import Image
 from sam2.build_sam import build_sam2_video_predictor, build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor 
-from track_utils import sample_points_from_masks
-from video_utils import create_video_from_images
+from utils.track_utils import sample_points_from_masks
+from utils.video_utils import create_video_from_images
 
 
 """
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diff --git a/utils/common_utils.py b/utils/common_utils.py
new file mode 100644
index 0000000..255ff3c
--- /dev/null
+++ b/utils/common_utils.py
@@ -0,0 +1,77 @@
+import os
+import json
+import cv2
+import numpy as np
+from dataclasses import dataclass
+import random
+
+class CommonUtils:
+    @staticmethod
+    def creat_dirs(path):
+        """
+        Ensure the given path exists. If it does not exist, create it using os.makedirs.
+
+        :param path: The directory path to check or create.
+        """
+        try: 
+            if not os.path.exists(path):
+                os.makedirs(path, exist_ok=True)
+                print(f"Path '{path}' did not exist and has been created.")
+            else:
+                print(f"Path '{path}' already exists.")
+        except Exception as e:
+            print(f"An error occurred while creating the path: {e}")
+    
+    @staticmethod
+    def draw_masks_and_box(raw_image_path, mask_path, json_path, output_path):
+        CommonUtils.creat_dirs(output_path)
+        raw_image_name_list = os.listdir(raw_image_path)
+        raw_image_name_list.sort()
+        for raw_image_name in raw_image_name_list:
+            image_path = os.path.join(raw_image_path, raw_image_name)
+            image = cv2.imread(image_path)
+            if image is None:
+                raise FileNotFoundError("Image file not found.")
+            # load mask
+            mask_npy_path = os.path.join(mask_path, "mask_"+raw_image_name.split(".")[0]+".npy")
+            mask = np.load(mask_npy_path)
+            # color map
+            unique_ids = np.unique(mask)
+            colors = {uid: CommonUtils.random_color() for uid in unique_ids}
+            colors[0] = (0, 0, 0)  # background color
+
+            # apply mask to image
+            colored_mask = np.zeros_like(image)
+            for uid in unique_ids:
+                colored_mask[mask == uid] = colors[uid]
+            alpha = 0.5  # 调整 alpha 值以改变透明度
+            output_image = cv2.addWeighted(image, 1 - alpha, colored_mask, alpha, 0)
+
+
+            file_path = os.path.join(json_path, "mask_"+raw_image_name.split(".")[0]+".json")
+            with open(file_path, 'r') as file:
+                json_data = json.load(file)
+                # Draw bounding boxes and labels
+                for obj_id, obj_item in json_data["labels"].items():
+                    # Extract data from JSON
+                    x1, y1, x2, y2 = obj_item["x1"], obj_item["y1"], obj_item["x2"], obj_item["y2"]
+                    instance_id = obj_item["instance_id"]
+                    class_name = obj_item["class_name"]
+
+                    # Draw rectangle
+                    cv2.rectangle(output_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
+
+                    # Put text
+                    label = f"{instance_id}: {class_name}"
+                    cv2.putText(output_image, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 2)
+
+                # Save the modified image
+                output_image_path = os.path.join(output_path, raw_image_name)
+                cv2.imwrite(output_image_path, output_image)
+
+                print(f"Annotated image saved as {output_image_path}")
+
+    @staticmethod
+    def random_color():
+        """random color generator"""
+        return (random.randint(0, 255), random.randint(0, 255), random.randint(0, 255))
diff --git a/utils/mask_dictionary_model.py b/utils/mask_dictionary_model.py
new file mode 100644
index 0000000..18937b8
--- /dev/null
+++ b/utils/mask_dictionary_model.py
@@ -0,0 +1,142 @@
+import numpy as np
+import json
+import torch
+import copy
+import os
+import cv2
+from dataclasses import dataclass, field
+
+@dataclass
+class MaskDictionatyModel:
+    mask_name:str = ""
+    mask_height: int = 1080
+    mask_width:int = 1920
+    promote_type:str = "mask"
+    labels:dict = field(default_factory=dict)
+
+    def add_new_frame_annotation(self, mask_list, box_list, label_list, background_value = 0):
+        mask_img = torch.zeros(mask_list.shape[-2:])
+        anno_2d = {}
+        for idx, (mask, box, label) in enumerate(zip(mask_list, box_list, label_list)):
+            final_index = background_value + idx + 1
+
+            if mask.shape[0] != mask_img.shape[0] or mask.shape[1] != mask_img.shape[1]:
+                raise ValueError("The mask shape should be the same as the mask_img shape.")
+            # mask = mask
+            mask_img[mask == True] = final_index
+            # print("label", label)
+            name = label
+            box = box # .numpy().tolist()
+            new_annotation = ObjectInfo(instance_id = final_index, mask = mask, class_name = name, x1 = box[0], y1 = box[1], x2 = box[2], y2 = box[3])
+            anno_2d[final_index] = new_annotation
+
+        # np.save(os.path.join(output_dir, output_file_name), mask_img.numpy().astype(np.uint16))
+        self.mask_height = mask_img.shape[0]
+        self.mask_width = mask_img.shape[1]
+        self.labels = anno_2d
+
+    def update_masks(self, tracking_annotation_dict, iou_threshold=0.8, objects_count=0):
+        updated_masks = {}
+
+        for seg_obj_id, seg_mask in self.labels.items():  # tracking_masks
+            flag = 0 
+            new_mask_copy = ObjectInfo()
+            if seg_mask.mask.sum() == 0:
+                continue
+            
+            for object_id, object_info in tracking_annotation_dict.labels.items():  # grounded_sam masks
+                iou = self.calculate_iou(seg_mask.mask, object_info.mask)  # tensor, numpy
+                # print("iou", iou)
+                if iou > iou_threshold:
+                    flag = object_info.instance_id
+                    new_mask_copy.mask = seg_mask.mask
+                    new_mask_copy.instance_id = object_info.instance_id
+                    new_mask_copy.class_name = seg_mask.class_name
+                    break
+                
+            if not flag:
+                objects_count += 1
+                flag = objects_count
+                new_mask_copy.instance_id = objects_count
+                new_mask_copy.mask = seg_mask.mask
+                new_mask_copy.class_name = seg_mask.class_name
+            updated_masks[flag] = new_mask_copy
+        self.labels = updated_masks
+        return objects_count
+
+    def get_target_class_name(self, instance_id):
+        return self.labels[instance_id].class_name
+
+
+    @staticmethod
+    def calculate_iou(mask1, mask2):
+        # Convert masks to float tensors for calculations
+        mask1 = mask1.to(torch.float32)
+        mask2 = mask2.to(torch.float32)
+        
+        # Calculate intersection and union
+        intersection = (mask1 * mask2).sum()
+        union = mask1.sum() + mask2.sum() - intersection
+        
+        # Calculate IoU
+        iou = intersection / union
+        return iou
+
+    def to_dict(self):
+        return {
+            "mask_name": self.mask_name,
+            "mask_height": self.mask_height,
+            "mask_width": self.mask_width,
+            "promote_type": self.promote_type,
+            "labels": {k: v.to_dict() for k, v in self.labels.items()}
+        }
+
+
+
+@dataclass
+class ObjectInfo:
+    instance_id:int = 0
+    mask: any = None
+    class_name:str = ""
+    x1:int = 0
+    y1:int = 0
+    x2:int = 0
+    y2:int = 0
+    logit:float = 0.0
+
+    def get_mask(self):
+        return self.mask
+    
+    def get_id(self):
+        return self.instance_id
+
+    def update_box(self):
+        # 找到所有非零值的索引
+        nonzero_indices = torch.nonzero(self.mask)
+        
+        # 如果没有非零值，返回一个空的边界框
+        if nonzero_indices.size(0) == 0:
+            # print("nonzero_indices", nonzero_indices)
+            return []
+        
+        # 计算最小和最大索引
+        y_min, x_min = torch.min(nonzero_indices, dim=0)[0]
+        y_max, x_max = torch.max(nonzero_indices, dim=0)[0]
+        
+        # 创建边界框 [x_min, y_min, x_max, y_max]
+        bbox = [x_min.item(), y_min.item(), x_max.item(), y_max.item()]        
+        self.x1 = bbox[0]
+        self.y1 = bbox[1]
+        self.x2 = bbox[2]
+        self.y2 = bbox[3]
+    
+    def to_dict(self):
+        return {
+            "instance_id": self.instance_id,
+            "class_name": self.class_name,
+            "x1": self.x1,
+            "y1": self.y1,
+            "x2": self.x2,
+            "y2": self.y2,
+            "logit": self.logit
+        }
\ No newline at end of file
diff --git a/supervision_utils.py b/utils/supervision_utils.py
similarity index 100%
rename from supervision_utils.py
rename to utils/supervision_utils.py
diff --git a/track_utils.py b/utils/track_utils.py
similarity index 100%
rename from track_utils.py
rename to utils/track_utils.py
diff --git a/video_utils.py b/utils/video_utils.py
similarity index 100%
rename from video_utils.py
rename to utils/video_utils.py