mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:36:37 +00:00
Yuzviak
dfd41f27d4
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>
60 lines
1.5 KiB
TOML
60 lines
1.5 KiB
TOML
[project]
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name = "gps-denied-onboard"
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version = "0.1.0"
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description = "GPS-denied UAV geolocalization service"
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requires-python = ">=3.11"
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dependencies = [
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"fastapi",
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"uvicorn[standard]",
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"pydantic>=2",
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"pydantic-settings>=2",
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"sqlalchemy>=2",
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"alembic>=1.14",
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"sse-starlette>=2.0",
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"aiosqlite>=0.20",
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"python-multipart>=0.0.9",
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"httpx>=0.27",
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"diskcache>=5.6",
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"numpy>=1.26,<2.0", # NumPy 2.0 silently breaks GTSAM Python bindings (issue #2264)
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"opencv-python-headless>=4.9,<4.11", # 4.11+ requires numpy>=2.0 (incompatible with GTSAM)
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"gtsam>=4.3a0",
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"pymavlink>=2.4",
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]
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[project.optional-dependencies]
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dev = [
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"ruff>=0.9",
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"pytest>=8.0",
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"pytest-asyncio>=0.24",
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"httpx>=0.28",
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]
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[build-system]
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requires = ["setuptools>=75"]
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build-backend = "setuptools.build_meta"
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[tool.setuptools.packages.find]
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where = ["src"]
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[tool.ruff]
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target-version = "py311"
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line-length = 120
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[tool.ruff.lint.per-file-ignores]
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# Abstract interfaces have long method signatures — allow up to 170
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"src/gps_denied/core/graph.py" = ["E501"]
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"src/gps_denied/core/metric.py" = ["E501"]
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"src/gps_denied/core/chunk_manager.py" = ["E501"]
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[tool.ruff.lint]
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select = ["E", "F", "I", "W"]
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[tool.pytest.ini_options]
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testpaths = ["tests"]
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asyncio_mode = "auto"
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markers = [
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"e2e: end-to-end test against a real dataset",
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"e2e_slow: e2e test that takes > 2 minutes, nightly-only",
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"needs_dataset: test requires an external dataset to be downloaded",
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]
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