code: 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
  
          detection_points_flatten = np.multiply(
              diagonal, detection_points_flatten
          ) + np.multiply(one_minus_diagonal, self.x[: self.dim_z])
  
      self.x[: self.dim_z] = detection_points_flatten
  
imports: from abc import ABC, abstractmethod
  import numpy
  from filterpy.kalman import KalmanFilter
label_desc: Use image node_id 3 for calling the NoFilter obj's underlying member method code with example usage: obj.update(detection_points_flatten, R, H) without return types