Research doc (2026-04-18 OSS stack audit) flagged NumPy 2.0 as silently
breaking GTSAM Python bindings (issue #2264). Pin numpy>=1.26,<2.0 and
constrain opencv-python-headless<4.11 (knock-on: 4.11+ requires numpy≥2).
Verified after downgrade:
- 196 passed / 8 skipped unit/component
- EuRoC MH_01 e2e PASS (no regression on 0.205m ESKF ATE baseline)
Plan updates in next_steps.md §5:
- cuVSLAM strategy clarified: Mono-Depth (barometer as synthetic depth),
not Mono-Inertial (needs stereo hardware we don't have)
- DINOv2-VLAD (AnyLoc) for GPR + FP16 TRT (INT8 broken for ViT on Jetson)
- GTSAM: documented that 4.2 stable is not on PyPI (only 4.3a0), so
deferred to post-sprint-1 ESKF-only path stays the right call
- VPAIR xfail root cause: no raw IMU + mock satellite index (verified
with scale=1.0 and scale=45.0 runs — ATE stays at ~1236m ESKF /
~1770km GPS regardless of scale)
- Flight controller H743 vs F405 check flagged as critical blocker
README "next steps" section rewritten to match the research-aligned plan.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Yuzviak