[codex] Add EKF spline tracker

[FlorianPfaff]

Summary

Adds an EKFSplineTracker / EkfSplineTracker for 2-D extended-object tracking with a closed quadratic spline extent.

The implementation is a PyRecEst-native reimplementation inspired by the Göttingen spline tracker model rather than a code copy. It uses PyRecEst backend operations, a fixed closed control polygon with estimated x/y scale factors, nearest spline-point projection for measurements, finite-difference EKF Jacobians, constant-turn kinematic prediction, contour extraction, and a bounding-box helper.

User impact

Users can instantiate the tracker from pyrecest.filters, run predict/update cycles for spline-shaped extended targets, and retrieve either the estimated kinematics, scaled control polygon, sampled contour, or bounding box.

Tests

Added tests/filters/test_ekf_spline_tracker.py for construction/export, prediction, update behavior, scale-correction disabling, contour/bounding-box output, and multi-measurement layouts.

Local tests were not run in this desktop session because Python execution was unavailable in the read-only sandbox; the PR is opened as draft for CI validation.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	16.7s
✅ JSON	prettier	2	0	0	0	0.45s
✅ JSON	v8r	2		0	0	3.12s
✅ MARKDOWN	markdownlint	2	0	0	0	0.67s
✅ MARKDOWN	markdown-table-formatter	2	0	0	0	0.29s
✅ PYTHON	bandit	395		0	0	6.0s
✅ PYTHON	black	395	7	0	0	9.55s
✅ PYTHON	flake8	395		0	0	3.35s
✅ PYTHON	isort	395	11	0	0	0.76s
✅ PYTHON	mypy	395		0	0	5.22s
✅ PYTHON	pylint	395		0	0	119.38s
✅ PYTHON	ruff	395	11	0	0	0.08s
✅ REPOSITORY	checkov	yes		no	no	21.75s
✅ REPOSITORY	gitleaks	yes		no	no	11.13s
✅ REPOSITORY	git_diff	yes		no	no	0.06s
✅ REPOSITORY	secretlint	yes		no	no	6.89s
✅ REPOSITORY	syft	yes		no	no	3.51s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.22s
✅ REPOSITORY	trufflehog	yes		no	no	20.63s
✅ YAML	prettier	4	0	0	0	0.47s
✅ YAML	v8r	4		0	0	5.67s
✅ YAML	yamllint	4		0	0	0.49s

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[github-actions]

Test Results

    12 files  +    12      12 suites  +12   4h 14m 30s ⏱️ + 4h 14m 30s
 1 136 tests + 1 136   1 136 ✅ + 1 136      0 💤 ±    0  0 ❌ ±0 
13 924 runs  +13 924  10 628 ✅ +10 628  3 296 💤 +3 296  0 ❌ ±0 

Results for commit ddcdeb6. ± Comparison against base commit d91eaeb.

♻️ This comment has been updated with latest results.