def METHOD_NAME(self, kalman_filter, detection):
    """
    Perform Kalman filter measurement update step and update the associated
    detection feature cache.
    """
    self.mean, self.covariance = kalman_filter.METHOD_NAME(self.mean,
                                                      self.covariance,
                                                      detection.to_xyah())
    self.features.append(detection.feature)
    self.feat = detection.feature
    self.cls_id = detection.cls_id
    self.score = detection.score
    self.hits += 1
    self.time_since_update = 0
    if self.state == TrackState.Tentative and self.hits >= self._n_init:
        self.state = TrackState.Confirmed