# 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
pexpect>=4.8.0
future>=0.18.2

# 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