Upgrade numpy

```text
    The user requested numpy==1.19.1
    altair 4.1.0 depends on numpy
    gluoncv 0.10.5.post0 depends on numpy
    imageio 2.22.4 depends on numpy
    matplotlib 3.3.1 depends on numpy>=1.15
    mxnet 1.9.1 depends on numpy<2.0.0 and >1.16.0
    opencv-python 4.4.0.46 depends on numpy>=1.19.3
```