def METHOD_NAME(self, measurement):
    """Create track from unassociated measurement.
    Parameters
    ----------
    measurement : ndarray
        Bounding box coordinates (x, y, w, h) with center position (x, y),
        width w, and height h.
    Returns
    -------
    (ndarray, ndarray)
        Returns the mean vector (8 dimensional) and covariance matrix (8x8
        dimensional) of the new track. Unobserved velocities are initialized
        to 0 mean.
    """
    mean_pos = measurement
    mean_vel = np.zeros_like(mean_pos)
    self.x = (np.r_[mean_pos, mean_vel]).T
    std = [
        2 * self._std_weight_position * measurement[3],
        2 * self._std_weight_position * measurement[3],
        1e-2,
        2 * self._std_weight_position * measurement[3],
        10 * self._std_weight_velocity * measurement[3],
        10 * self._std_weight_velocity * measurement[3],
        1e-5,
        10 * self._std_weight_velocity * measurement[3],
    ]
    self.P = np.diag(np.square(std))
    return self.x.T, self.P