diff --git a/include/centroidtracker.h b/include/centroidtracker.h
index 4621606..40dc18a 100644
--- a/include/centroidtracker.h
+++ b/include/centroidtracker.h
@@ -16,7 +16,7 @@ Created by pratheek on 2019-11-27.
 
 class CentroidTracker {
 public:
-    explicit CentroidTracker(int maxDisappeared);
+    explicit CentroidTracker(int maxDisappeared, int maxDistance);
 
     void register_Object(int cX, int cY);
 
@@ -29,7 +29,7 @@ class CentroidTracker {
     std::map<int, std::vector<std::pair<int, int>>> path_keeper;
 private:
     int maxDisappeared;
-
+    int maxDistance;
     int nextObjectID;
 
     static double calcDistance(double x1, double y1, double x2, double y2);
diff --git a/src/centroidtracker.cpp b/src/centroidtracker.cpp
index 1b1c2aa..f64a066 100644
--- a/src/centroidtracker.cpp
+++ b/src/centroidtracker.cpp
@@ -6,9 +6,10 @@ Created by pratheek on 2019-11-27.
 
 using namespace std;
 
-CentroidTracker::CentroidTracker(int maxDisappeared) {
+CentroidTracker::CentroidTracker(int maxDisappeared, int maxDistance) {
     this->nextObjectID = 0;
     this->maxDisappeared = maxDisappeared;
+    this->maxDistance = maxDistance;
 }
 
 double CentroidTracker::calcDistance(double x1, double y1, double x2, double y2) {
@@ -131,6 +132,10 @@ std::vector<std::pair<int, std::pair<int, int>>> CentroidTracker::update(vector<
         for (int i = 0; i < rows.size(); i++) {
             //if we have already examined either the row or column value before, ignore it
             if (usedRows.count(rows[i]) || usedCols.count(cols[i])) { continue; }
+
+            // Added maxDistance logic here
+            if (Distances[rows[i]][cols[i]] > this->maxDistance) { continue; }
+           
             //otherwise, grab the object ID for the current row, set its new centroid,
             // and reset the disappeared counter
             int objectID = objectIDs[rows[i]];
diff --git a/src/main.cpp b/src/main.cpp
index d514d8d..c82b0da 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -9,7 +9,7 @@ using namespace std;
 
 int main() {
     std::cout << "Hello, Tracker!" << std::endl;
-    auto centroidTracker = new CentroidTracker(20);
+    auto centroidTracker = new CentroidTracker(20, 50);
 
     VideoCapture cap(0);
 //    VideoCapture cap("../../test2.mp4");