- randn(this->kf.statePre, Scalar::all(0), Scalar::all(0.1));
- this->kf.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
+ randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
+ KF.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);