Dependencies
Complete reference of all software dependencies for the AV2.
Python Version
Required: Python 3.8+
Recommended: Python 3.10
Core Dependencies
Scientific Computing
Package |
Version |
Purpose |
|---|---|---|
numpy |
>= 1.20.0 |
Numerical arrays and mathematical operations |
scipy |
>= 1.7.0 |
Signal processing, interpolation, optimization |
matplotlib |
>= 3.4.0 |
2D plotting and visualization |
Computer Vision
Package |
Version |
Purpose |
|---|---|---|
opencv-python |
>= 4.5.0 |
Image processing, camera interfaces |
opencv-contrib-python |
>= 4.5.0 |
Additional OpenCV modules |
Deep Learning
Package |
Version |
Purpose |
|---|---|---|
torch |
>= 1.9.0 |
PyTorch deep learning framework |
torchvision |
>= 0.10.0 |
Computer vision models and transforms |
Note
Install PyTorch with CUDA support for GPU acceleration:
pip install torch torchvision --index-url https://download.pytorch.org/whl/cu118
3D Visualization
Package |
Version |
Purpose |
|---|---|---|
open3d |
>= 0.13.0 |
3D point cloud visualization and processing |
Hardware Interfaces
Package |
Version |
Purpose |
|---|---|---|
pyserial |
>= 3.5 |
Serial communication (Teensy, Xsens) |
velodyne-decoder |
>= 2.0.0 |
Velodyne LIDAR packet parsing |
xsensdeviceapi |
(SDK) |
Xsens MTi sensor interface |
pyrealsense2 |
>= 2.50.0 |
Intel RealSense camera interface |
Configuration
Package |
Version |
Purpose |
|---|---|---|
pyyaml |
>= 5.4.0 |
YAML configuration file parsing |
requirements.txt
# AV2 Dependencies
# Install with: pip install -r requirements.txt
# Core scientific
numpy>=1.20.0
scipy>=1.7.0
matplotlib>=3.4.0
# Computer vision
opencv-python>=4.5.0
opencv-contrib-python>=4.5.0
# Deep learning (install with CUDA separately if needed)
# torch>=1.9.0
# torchvision>=0.10.0
# Navigation
osmnx>=1.1.0
networkx>=2.6.0
pyproj>=3.0.0
shapely>=1.8.0
# Visualization
open3d>=0.13.0
# Hardware
pyserial>=3.5
velodyne-decoder>=2.0.0
pyrealsense2>=2.50.0
# Configuration
pyyaml>=5.4.0
System Dependencies
These must be installed via apt (Ubuntu/Debian):
# Build tools
sudo apt install build-essential cmake git
# Python development
sudo apt install python3-dev python3-pip python3-venv
# OpenCV system libraries
sudo apt install libopencv-dev
# Serial port access
sudo apt install libserial-dev
# OpenGL (for Open3D)
sudo apt install libgl1-mesa-dev libglu1-mesa-dev
# Spatial indexing (for OSMnx/Shapely)
sudo apt install libspatialindex-dev
Optional Dependencies
For development and testing:
pip install pytest pytest-cov # Testing
pip install black flake8 # Code formatting
pip install sphinx sphinx-rtd-theme # Documentation