Using SuperGlue with composition

[GEscudeiro]

Hey! I'm trying to use SuperGlue with a component container isolated, but with no success, is it possible? I saw a similar discussion in https://github.com/introlab/rtabmap/issues/896. but I'm not quite sure what is the status when running with nodelets.

This is the error im getting:
[component_container_isolated-1] [ERROR] (2025-10-22 12:39:32.708) PyMatcher.cpp:63::PyMatcher() Module "rtabmap_superglue" could not be imported! (File="/home/booster/SuperGluePretrainedNetwork/rtabmap_superglue.py")
[component_container_isolated-1] [ERROR] (2025-10-22 12:39:32.708) PyMatcher.cpp:64::PyMatcher() Traceback (most recent call last):
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/core/__init__.py", line 24, in <module>
[component_container_isolated-1]     from . import multiarray
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/core/multiarray.py", line 10, in <module>
[component_container_isolated-1]     from . import overrides
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/core/overrides.py", line 8, in <module>
[component_container_isolated-1]     from numpy.core._multiarray_umath import (
[component_container_isolated-1]
[component_container_isolated-1] ImportError: /usr/local/lib/python3.10/dist-packages/numpy/core/_multiarray_umath.cpython-310-aarch64-linux-gnu.so: undefined symbol: PyExc_ImportError
[component_container_isolated-1]
[component_container_isolated-1]
[component_container_isolated-1] During handling of the above exception, another exception occurred:
[component_container_isolated-1]
[component_container_isolated-1]
[component_container_isolated-1] Traceback (most recent call last):
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/__init__.py", line 130, in <module>
[component_container_isolated-1]     from numpy.__config__ import show as show_config
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/__config__.py", line 4, in <module>
[component_container_isolated-1]     from numpy.core._multiarray_umath import (
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/core/__init__.py", line 50, in <module>
[component_container_isolated-1]     raise ImportError(msg)
[component_container_isolated-1]
[component_container_isolated-1] ImportError:
[component_container_isolated-1]
[component_container_isolated-1] IMPORTANT: PLEASE READ THIS FOR ADVICE ON HOW TO SOLVE THIS ISSUE!
[component_container_isolated-1]
[component_container_isolated-1] Importing the numpy C-extensions failed. This error can happen for
[component_container_isolated-1] many reasons, often due to issues with your setup or how NumPy was
[component_container_isolated-1] installed.
[component_container_isolated-1]
[component_container_isolated-1] We have compiled some common reasons and troubleshooting tips at:
[component_container_isolated-1]
[component_container_isolated-1]     https://numpy.org/devdocs/user/troubleshooting-importerror.html
[component_container_isolated-1]
[component_container_isolated-1] Please note and check the following:
[component_container_isolated-1]
[component_container_isolated-1]   * The Python version is: Python3.10 from "/usr/bin/python3"
[component_container_isolated-1]   * The NumPy version is: "1.26.4"
[component_container_isolated-1]
[component_container_isolated-1] and make sure that they are the versions you expect.
[component_container_isolated-1] Please carefully study the documentation linked above for further help.
[component_container_isolated-1]
[component_container_isolated-1] Original error was: /usr/local/lib/python3.10/dist-packages/numpy/core/_multiarray_umath.cpython-310-aarch64-linux-gnu.so: undefined symbol: PyExc_ImportError
[component_container_isolated-1]
[component_container_isolated-1]
[component_container_isolated-1]
[component_container_isolated-1] The above exception was the direct cause of the following exception:
[component_container_isolated-1]
[component_container_isolated-1]
[component_container_isolated-1] Traceback (most recent call last):
[component_container_isolated-1]
[component_container_isolated-1]   File "/home/booster/SuperGluePretrainedNetwork/rtabmap_superglue.py", line 9, in <module>
[component_container_isolated-1]     import numpy as np
[component_container_isolated-1]
[component_container_isolated-1]   File "/usr/local/lib/python3.10/dist-packages/numpy/__init__.py", line 135, in <module>
[component_container_isolated-1]     raise ImportError(msg) from e
[component_container_isolated-1]
[component_container_isolated-1] ImportError: Error importing numpy: you should not try to import numpy from
[component_container_isolated-1]         its source directory; please exit the numpy source tree, and relaunch
[component_container_isolated-1]         your python interpreter from there.
[component_container_isolated-1]

[matlabbe]

Could it be that superglue is using a numpy version that is different than the loaded _multiarray_umath.cpython-310-aarch64-linux-gnu.so? Rtabmap cpp library links directly to numpy shared library here: https://github.com/introlab/rtabmap/blob/a20e161a5b1d4ad1c658c8b5713dac0022758b13/corelib/src/CMakeLists.txt#L229, you may double check if the target linked there link to same library than numpy python is expecting.