diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..24482e2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,116 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
diff --git a/centroid-tracker/__init__.py b/centroid-tracker/__init__.py
new file mode 100644
index 0000000..8fb813d
--- /dev/null
+++ b/centroid-tracker/__init__.py
@@ -0,0 +1 @@
+from .centroidtracker import CentroidTracker
diff --git a/centroid-tracker/centroidtracker.py b/centroid-tracker/centroidtracker.py
new file mode 100644
index 0000000..97baa5e
--- /dev/null
+++ b/centroid-tracker/centroidtracker.py
@@ -0,0 +1,84 @@
+from scipy.spatial import distance as dist
+from collections import OrderedDict
+import numpy as np
+
+class CentroidTracker():
+    def __init__(self, maxDisappeared=50):
+        self.nextObjectID = 0
+        self.objects = OrderedDict()
+        self.disappeared = OrderedDict()
+
+        self.maxDisappeared = maxDisappeared
+
+    def register(self, centroid):
+        self.objects[self.nextObjectID] = centroid
+        self.disappeared[self.nextObjectID] = 0
+        self.nextObjectID += 1
+
+    def deregister(self, objectID):
+        del self.objects[objectID]
+        del self.disappeared[objectID]
+
+    def update(self, rects):
+
+        if(len(rects) == 0):
+            for objectID in self.disappeared.keys():
+                self.disappeared[objectID] += 1
+                
+                if(self.disappeared[objectID] > self.maxDisappeared):
+                    self.deregister(objectID)
+            return self.objects
+        
+        inputCentroids = np.zeros((len(rects), 2), dtype="int")
+
+        for(i, (startX, startY, endX, endY)) in enumerate(rects):
+            cX = int((startX + endX) / 2.0)
+            cY = int((startY + endY) / 2.0)
+            inputCentroids[i] = (cX, cY)
+
+        if(len(self.objects) == 0):
+            for i in range(0, len(inputCentroids)):
+                self.register(inputCentroids[i])
+        
+        else:
+            objectIDs = list(self.objects.keys())
+            objectCentroids = list(self.objects.values())
+
+            D = dist.cdist(np.array(objectCentroids), inputCentroids)
+
+            rows = D.min(axis=1).argsort()
+            cols = D.argmin(axis=1)[rows]
+
+            usedRows = set()
+            usedCols = set()
+
+            for (row, col) in zip(rows, cols):
+
+                if row in usedRows or col in usedCols:
+                    continue
+
+                objectID = objectIDs[row]
+                self.objects[objectID] = inputCentroids[col]
+                self.disappeared[objectID] = 0
+
+                usedRows.add(row)
+                usedCols.add(col)
+
+            unusedRows = set(range(0, D.shape[0])).difference(usedRows)
+            unusedCols = set(range(0, D.shape[1])).difference(usedCols)
+
+            if D.shape[0] >= D.shape[1]:
+
+                for row in unusedRows:
+                    objectID = objectIDs[row]
+                    self.disappeared[objectID] += 1
+
+                    if self.disappeared[objectID] > self.maxDisappeared:
+                        self.deregister(objectID)
+
+            else:
+
+                for col in unusedCols:
+                    self.register(inputCentroids[col])
+
+        return self.objects
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..ea1adf2
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,20 @@
+import setuptools
+
+setuptools.setup(
+        name="centroid_tracker",
+        version="0.0.1",
+        author="Ross Leitch",
+        author_email="ross@end-game.com",
+        description="A small centroid tracker library based off https://www.pyimagesearch.com/2018/07/23/simple-object-tracking-with-opencv/",
+        url="https://github.com/balbatross/centroid-tracker",
+        packages=['centroid-tracker'],
+        install_requires=[
+            'scipy',
+            'numpy'
+        ],
+        classifiers=[
+            "Programming Language :: Python :: 3",
+            "License :: OSI Approved :: MIT License",
+            "Operating System :: OS Independent"
+        ],
+)