Initial Commit

requirements.txt

@@ -0,0 +1,58 @@
+# Core dependencies for Ubuntu 22.04 + Python 3.10
+# GPS-Denied Navigation Requirements
+
+numpy>=1.21.0,<1.27.0
+opencv-python>=4.5.0,<4.9.0
+opencv-contrib-python>=4.5.0,<4.9.0
+
+# Visual odometry and feature tracking
+# OpenCV's contrib has SIFT, SURF, ORB for feature detection
+
+# ROS 2 Python dependencies
+empy>=3.3.4
+lark>=1.1.1
+
+# Computer vision and scientific computing
+scipy>=1.7.0,<1.12.0
+scikit-learn>=1.0.0,<1.4.0
+scikit-image>=0.19.0,<0.23.0
+matplotlib>=3.5.0,<3.9.0
+pillow>=9.0.0,<11.0.0
+
+# MAVLink
+pymavlink>=2.4.0
+
+# Kalman filtering for sensor fusion
+filterpy>=1.4.5
+
+# Coordinate transformations
+transforms3d>=0.4.1
+pyproj>=3.3.0  # For geofence coordinate transforms only
+
+# Geometry for geofencing
+shapely>=2.0.0
+
+# Utilities
+pyyaml>=6.0
+pyserial>=3.5
+colorama>=0.4.4
+
+# Development and testing
+pytest>=7.0.0
+pytest-cov>=3.0.0
+black>=22.0.0
+flake8>=4.0.0
+pylint>=2.12.0
+
+# Optional: SLAM libraries (uncomment if needed)
+# opencv-contrib-python includes ORB-SLAM dependencies
+# Add these for advanced SLAM:
+# g2o-python>=0.0.1  # Graph optimization
+# open3d>=0.15.0     # 3D processing
+
+# Optional: Deep Learning for visual features (uncomment if needed)
+# torch>=1.10.0,<2.2.0
+# torchvision>=0.11.0,<0.17.0
+
+# Optional: Advanced visual odometry (uncomment if needed)
+# pykitti>=0.3.1  # For testing with KITTI dataset