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Remove dependency on deprecated FilterPy by integrating internal Kalman filter #330

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Remove dependency on deprecated FilterPy by integrating internal Kalman filter #330

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9808cc3
feat(tracking): replace FilterPy KalmanFilter with internal implement…
cl445 Mar 24, 2025
c99505a
Merge latest master into remove-filterpy for sync
cl445 May 12, 2025
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4 changes: 2 additions & 2 deletions norfair/filter.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
from abc import ABC, abstractmethod

import numpy as np
from filterpy.kalman import KalmanFilter

from .kalman_filter import KalmanFilter


class FilterFactory(ABC):
Expand Down Expand Up @@ -103,7 +104,6 @@ def predict(self):
return

def update(self, detection_points_flatten, R=None, H=None):

if H is not None:
diagonal = np.diagonal(H).reshape((self.dim_z, 1))
one_minus_diagonal = 1 - diagonal
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