Remove dependency on deprecated FilterPy by integrating internal Kalman filter #330
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…ation This commit removes the dependency on FilterPy by integrating a lightweight, self-contained Kalman filter implementation, adapted from the original FilterPy source (MIT license, © 2014–2018 Roger R. Labbe Jr.). The code was refactored to comply with black, isort, and pylint standards. Minor improvements were applied throughout for clarity, robustness, and style. Original license header has been retained and annotated to reflect adaptation.
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This PR removes the dependency on the FilterPy library, which is no longer maintained and currently marked as deprecated on PyPI. It also causes deprecation warnings due to outdated usage patterns.
An internal implementation of the Kalman filter has been added under norfair/tracking/kalman_filter.py. It is functionally based on the original FilterPy KalmanFilter class but has been:
• cleaned up to comply with black, isort, and pylint
• adjusted to match Norfair’s architecture and coding standards
• simplified where appropriate, without sacrificing functionality
The original license header (MIT, © Roger R. Labbe Jr.) has been retained and annotated to reflect the adaptation.
This change makes Norfair more self-contained, avoids unnecessary warnings, and ensures better long-term maintainability.