no output files about bundler_sfm HOT 22 CLOSED

Bingo!

I had libopenblas-base, libblas3 and libblas-dev installed on my system. These are the commands I ran to clean things up...

• sudo apt-get autoremove libblas3
  also removes libblas-dev
• sudo apt-get autoremove libopenblas-base
  installs libblas3 (when I attempted to make bundler_sfm at this point, the process failed)
• sudo apt-get install libblas-dev
  bundler_sfm built and ran all the way through the kermit data set.

ls -l bundle/
total 692
-rw-r--r-- 1 arpowers arpowers 16427 Aug 17 16:52 bundle_001.out
-rw-r--r-- 1 arpowers arpowers 53927 Aug 17 16:52 bundle_004.out
-rw-r--r-- 1 arpowers arpowers 72471 Aug 17 16:52 bundle_006.out
-rw-r--r-- 1 arpowers arpowers 89384 Aug 17 16:52 bundle_008.out
-rw-r--r-- 1 arpowers arpowers 94007 Aug 17 16:52 bundle_009.out
-rw-r--r-- 1 arpowers arpowers 16419 Aug 17 16:52 bundle.init.out
-rw-r--r-- 1 arpowers arpowers 94007 Aug 17 16:52 bundle.out
-rw-r--r-- 1 arpowers arpowers 122389 Aug 17 16:52 out
-rw-r--r-- 1 arpowers arpowers 7517 Aug 17 16:52 points001.ply
-rw-r--r-- 1 arpowers arpowers 22230 Aug 17 16:52 points004.ply
-rw-r--r-- 1 arpowers arpowers 27375 Aug 17 16:52 points006.ply
-rw-r--r-- 1 arpowers arpowers 32897 Aug 17 16:52 points008.ply
-rw-r--r-- 1 arpowers arpowers 34291 Aug 17 16:52 points009.ply

Looks like libopenblas-base was the culprit. I recommend following the steps outlined above to get the proper install of libblas. Thanks for your time Noah!

from bundler_sfm.

It's hard to say exactly what is going wrong here. The bundle/out log file
is truncating, suggesting the perhaps bundler crashed. You could try
running just that last call to the bundler program in isolation, and see if
it terminates with a segfault or some other error. That command would look
something like

../bin/bundler list.txt --options_file options.txt

though it looks like your list file is at /tmp/tmpSIgHJp for some reason.

Noah

On Sun, Aug 10, 2014 at 11:56 PM, powersa [email protected] wrote:

bundler_sfm built successfully on Linux Mint 15.

When I run bundler.py on examples/kermit everything looks good and it ends
with:

[- Running Bundler -]
[- Done -]

However, the bundle dir does not contain the expected output. Based on
available info I expect .out and .ply files in this location.

Here's my full output, including source and log files:
https://www.dropbox.com/s/f8znbru0c88ps1e/kermit.zip

Do you see anything in these files that indicates the build went wrong or
a processing step fails?

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#21.

from bundler_sfm.

I had luck learning more about what's going o by running RunBundler.sh.

(FYI I had to install ImageMagick to satisfy the mogrify dependency)

This is the error that causes bundler to crash:
[- Running Bundler -]
../../RunBundler.sh: line 145: 18382 Segmentation fault $BUNDLER $IMAGE_LIST --options_file options.txt > bundle/bundle.log
[- Done -]

This looks like issue #11. I'll post if I find a solution.

from bundler_sfm.

Can you run bundler inside gdb? What would help here is a stack trace.

Noah
On Aug 16, 2014 3:35 PM, "powersa" [email protected] wrote:

I had luck learning more about what's going o by running RunBundler.sh.

(FYI I had to install ImageMagick to satisfy the mogrify dependency)

This is the error that causes bundler to crash:
[- Running Bundler -]
../../RunBundler.sh: line 145: 18382 Segmentation fault $BUNDLER
$IMAGE_LIST --options_file options.txt > bundle/bundle.log
[- Done -]

This looks like issue #11
#11. I'll post if I find a
solution.

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#21 (comment).

from bundler_sfm.

here is the stack trace when run on the kermit dataset:

$ gdb ../bin/bundler
(gdb) run list.txt --options_file options.txt
Starting program: /home/arpowers/bundler_sfm/bin/bundler list.txt --options_file options.txt
warning: no loadable sections found in added symbol-file system-supplied DSO at 0x7ffff7ffa000
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff3d46700 (LWP 3870)]
[OnInit] Running program /home/arpowers/bundler_sfm/bin/bundler
Loading images from file 'list.txt'
[BundlerApp::OnInit] Processing options...
[BundlerApp::OnInit] Loading frame...
[BundlerApp::OnInit] Loading images...
[ReadGeometricConstraints] Reading 709 tracks
[ReadGeometricConstraints] Reading tracks took 0.010s
[ReadTrackPairs] Error opening file track-pairs.txt for reading
[ReadGeometricConstraints] Processing track 0...
[ReadGeometricConstraints] Computing track pairs took 0.000s
Avg. proj error [0 projections] = -nan
[BundleAdjust] Adjusting cameras 7 and 8 (score = 0.000)
[ImageData::CacheDimensions] Fatal error: couldn't read image ./kermit007.jpg
[ImageData::CacheDimensions] Fatal error: couldn't read image ./kermit008.jpg

Program received signal SIGSEGV, Segmentation fault.
0x000000000043b9d3 in ImageData::ReadKeyColors() ()
(gdb)

Let me know if I can provide more...

from bundler_sfm.

Looks like bundler can't find the jpg files. Does your list.txt file
contain the right relative paths?
On Aug 16, 2014 5:31 PM, "powersa" [email protected] wrote:

here is the stack trace when run on the kermit dataset:

$ gdb ../bin/bundler
(gdb) run list.txt --options_file options.txt
Starting program: /home/arpowers/bundler_sfm/bin/bundler list.txt
--options_file options.txt
warning: no loadable sections found in added symbol-file system-supplied
DSO at 0x7ffff7ffa000
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff3d46700 (LWP 3870)]
[OnInit] Running program /home/arpowers/bundler_sfm/bin/bundler
Loading images from file 'list.txt'
[BundlerApp::OnInit] Processing options...
[BundlerApp::OnInit] Loading frame...
[BundlerApp::OnInit] Loading images...
[ReadGeometricConstraints] Reading 709 tracks
[ReadGeometricConstraints] Reading tracks took 0.010s
[ReadTrackPairs] Error opening file track-pairs.txt for reading
[ReadGeometricConstraints] Processing track 0...
[ReadGeometricConstraints] Computing track pairs took 0.000s
Avg. proj error [0 projections] = -nan
[BundleAdjust] Adjusting cameras 7 and 8 (score = 0.000)
[ImageData::CacheDimensions] Fatal error: couldn't read image
./kermit007.jpg
[ImageData::CacheDimensions] Fatal error: couldn't read image
./kermit008.jpg

Program received signal SIGSEGV, Segmentation fault.
0x000000000043b9d3 in ImageData::ReadKeyColors() ()
(gdb)

Let me know if I can provide more...

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#21 (comment).

from bundler_sfm.

The relative paths appear to be correct. Contents of list.txt:

./kermit000.jpg 0 660.80306
./kermit001.jpg 0 660.80306
./kermit002.jpg 0 660.80306
./kermit003.jpg 0 660.80306
./kermit004.jpg 0 660.80306
./kermit005.jpg 0 660.80306
./kermit006.jpg 0 660.80306
./kermit007.jpg 0 660.80306
./kermit008.jpg 0 660.80306
./kermit009.jpg 0 660.80306
./kermit010.jpg 0 660.80306

from bundler_sfm.

So the images are all in the working directory? What platform are you
running on? Ubuntu, cygwin, something else?

Noah

2014-08-16 23:06 GMT-04:00 powersa [email protected]:

The relative paths appear to be correct. Contents of list.txt:

./kermit000.jpg 0 660.80306
./kermit001.jpg 0 660.80306
./kermit002.jpg 0 660.80306
./kermit003.jpg 0 660.80306
./kermit004.jpg 0 660.80306
./kermit005.jpg 0 660.80306
./kermit006.jpg 0 660.80306
./kermit007.jpg 0 660.80306
./kermit008.jpg 0 660.80306
./kermit009.jpg 0 660.80306
./kermit010.jpg 0 660.80306

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#21 (comment).

from bundler_sfm.

The images are all in the working directory.

Operating system info:
DISTRIB_ID=LinuxMint
DISTRIB_RELEASE=15
DISTRIB_CODENAME=olivia
DISTRIB_DESCRIPTION="Linux Mint 15 Olivia"
NAME="Ubuntu"
VERSION="13.04, Raring Ringtail"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 13.04"

essentially Ubuntu 13.04

from bundler_sfm.

Okay. Please do an 'ls -l' inside the directory where you are running
bundler and send me the result.

Noah
On Aug 17, 2014 10:06 AM, "powersa" [email protected] wrote:

The images are all in the working directory.

Operating system info:
DISTRIB_ID=LinuxMint
DISTRIB_RELEASE=15
DISTRIB_CODENAME=olivia
DISTRIB_DESCRIPTION="Linux Mint 15 Olivia"
NAME="Ubuntu"
VERSION="13.04, Raring Ringtail"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 13.04"

essentially Ubuntu 13.04

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#21 (comment).

from bundler_sfm.

Thanks Noah!

drwxr-xr-x 2 arpowers arpowers 4096 Aug 16 17:20 bundle
-rw-r--r-- 1 arpowers arpowers 30294 Aug 16 17:20 constraints.txt
-rw-r--r-- 1 arpowers arpowers 165140 Aug 16 17:19 kermit000.jpg
-rw-r--r-- 1 arpowers arpowers 135358 Aug 16 17:19 kermit000.key.gz
-rw-r--r-- 1 arpowers arpowers 179041 Aug 16 17:19 kermit001.jpg
-rw-r--r-- 1 arpowers arpowers 136608 Aug 16 17:19 kermit001.key.gz
-rw-r--r-- 1 arpowers arpowers 175650 Aug 16 17:19 kermit002.jpg
-rw-r--r-- 1 arpowers arpowers 134984 Aug 16 17:19 kermit002.key.gz
-rw-r--r-- 1 arpowers arpowers 185247 Aug 16 17:19 kermit003.jpg
-rw-r--r-- 1 arpowers arpowers 147257 Aug 16 17:19 kermit003.key.gz
-rw-r--r-- 1 arpowers arpowers 181952 Aug 16 17:19 kermit004.jpg
-rw-r--r-- 1 arpowers arpowers 138445 Aug 16 17:19 kermit004.key.gz
-rw-r--r-- 1 arpowers arpowers 166513 Aug 16 17:19 kermit005.jpg
-rw-r--r-- 1 arpowers arpowers 127707 Aug 16 17:19 kermit005.key.gz
-rw-r--r-- 1 arpowers arpowers 152960 Aug 16 17:19 kermit006.jpg
-rw-r--r-- 1 arpowers arpowers 96867 Aug 16 17:19 kermit006.key.gz
-rw-r--r-- 1 arpowers arpowers 173256 Aug 16 17:19 kermit007.jpg
-rw-r--r-- 1 arpowers arpowers 122928 Aug 16 17:19 kermit007.key.gz
-rw-r--r-- 1 arpowers arpowers 180718 Aug 16 17:19 kermit008.jpg
-rw-r--r-- 1 arpowers arpowers 138858 Aug 16 17:19 kermit008.key.gz
-rw-r--r-- 1 arpowers arpowers 165460 Aug 16 17:19 kermit009.jpg
-rw-r--r-- 1 arpowers arpowers 135050 Aug 16 17:19 kermit009.key.gz
-rw-r--r-- 1 arpowers arpowers 145119 Aug 16 17:19 kermit010.jpg
-rw-r--r-- 1 arpowers arpowers 125091 Aug 16 17:20 kermit010.key.gz
-rw-r--r-- 1 arpowers arpowers 176 Aug 16 17:20 list_keys.txt
-rw-r--r-- 1 arpowers arpowers 176 Aug 16 17:19 list_tmp.txt
-rw-r--r-- 1 arpowers arpowers 308 Aug 16 20:05 list.txt
-rw-r--r-- 1 arpowers arpowers 111 Aug 16 17:20 matches.corresp.txt
-rw-r--r-- 1 arpowers arpowers 22628 Aug 16 17:20 matches.init.txt
-rw-r--r-- 1 arpowers arpowers 21851 Aug 16 17:20 matches.prune.txt
-rw-r--r-- 1 arpowers arpowers 20992 Aug 16 17:20 matches.ransac.txt
-rw-r--r-- 1 arpowers arpowers 256 Aug 16 17:20 nmatches.corresp.txt
-rw-r--r-- 1 arpowers arpowers 298 Aug 16 17:20 nmatches.prune.txt
-rw-r--r-- 1 arpowers arpowers 295 Aug 16 17:20 nmatches.ransac.txt
-rw-r--r-- 1 arpowers arpowers 248 Aug 16 17:20 options.txt
-rw-r--r-- 1 arpowers arpowers 341 Aug 16 17:20 pairwise_scores.txt
drwxr-xr-x 2 arpowers arpowers 4096 Aug 16 17:19 prepare
-rw-r--r-- 1 arpowers arpowers 1529 Aug 16 17:19 sift.txt
-rw-r--r-- 1 arpowers arpowers 384 Aug 16 17:28 track-pairs.txt

from bundler_sfm.

I don't see any jpg files in that list. According to list.txt they should
be in the same directory.
On Aug 17, 2014 10:11 AM, "powersa" [email protected] wrote:

Thanks Noah!

drwxr-xr-x 2 arpowers arpowers 4096 Aug 16 17:20 bundle
-rw-r--r-- 1 arpowers arpowers 30294 Aug 16 17:20 constraints.txt
-rw-r--r-- 1 arpowers arpowers 135358 Aug 16 17:19 kermit000.key.gz
-rw-r--r-- 1 arpowers arpowers 136608 Aug 16 17:19 kermit001.key.gz
-rw-r--r-- 1 arpowers arpowers 134984 Aug 16 17:19 kermit002.key.gz
-rw-r--r-- 1 arpowers arpowers 147257 Aug 16 17:19 kermit003.key.gz
-rw-r--r-- 1 arpowers arpowers 138445 Aug 16 17:19 kermit004.key.gz
-rw-r--r-- 1 arpowers arpowers 127707 Aug 16 17:19 kermit005.key.gz
-rw-r--r-- 1 arpowers arpowers 96867 Aug 16 17:19 kermit006.key.gz
-rw-r--r-- 1 arpowers arpowers 122928 Aug 16 17:19 kermit007.key.gz
-rw-r--r-- 1 arpowers arpowers 138858 Aug 16 17:19 kermit008.key.gz
-rw-r--r-- 1 arpowers arpowers 135050 Aug 16 17:19 kermit009.key.gz
-rw-r--r-- 1 arpowers arpowers 125091 Aug 16 17:20 kermit010.key.gz
-rw-r--r-- 1 arpowers arpowers 176 Aug 16 17:20 list_keys.txt
-rw-r--r-- 1 arpowers arpowers 176 Aug 16 17:19 list_tmp.txt
-rw-r--r-- 1 arpowers arpowers 308 Aug 16 20:05 list.txt
-rw-r--r-- 1 arpowers arpowers 111 Aug 16 17:20 matches.corresp.txt
-rw-r--r-- 1 arpowers arpowers 22628 Aug 16 17:20 matches.init.txt
-rw-r--r-- 1 arpowers arpowers 21851 Aug 16 17:20 matches.prune.txt
-rw-r--r-- 1 arpowers arpowers 20992 Aug 16 17:20 matches.ransac.txt
-rw-r--r-- 1 arpowers arpowers 256 Aug 16 17:20 nmatches.corresp.txt
-rw-r--r-- 1 arpowers arpowers 298 Aug 16 17:20 nmatches.prune.txt
-rw-r--r-- 1 arpowers arpowers 295 Aug 16 17:20 nmatches.ransac.txt
-rw-r--r-- 1 arpowers arpowers 248 Aug 16 17:20 options.txt
-rw-r--r-- 1 arpowers arpowers 341 Aug 16 17:20 pairwise_scores.txt
drwxr-xr-x 2 arpowers arpowers 4096 Aug 16 17:19 prepare
-rw-r--r-- 1 arpowers arpowers 1529 Aug 16 17:19 sift.txt
-rw-r--r-- 1 arpowers arpowers 384 Aug 16 17:28 track-pairs.txt

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#21 (comment).

from bundler_sfm.

Edited previous comment, missing files was user error (moved the images to try another run). New comment reflects what was in the dir at runtime.

from bundler_sfm.

Just to make sure, is the previous stack trace you posted correct for the run where the images are in the current working directory?

from bundler_sfm.

Well, that's embarrassing, sorry Noah and thanks for your patience.

Here is the stack trace with the jpegs in the working dir. I removed some of tri.error matches for readability.

(gdb) run list.txt --options_file options.txt
Starting program: /home/arpowers/bundler_sfm/bin/bundler list.txt --options_file options.txt
warning: no loadable sections found in added symbol-file system-supplied DSO at 0x7ffff7ffa000
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff3d46700 (LWP 2729)]
[OnInit] Running program /home/arpowers/bundler_sfm/bin/bundler
Loading images from file 'list.txt'
[BundlerApp::OnInit] Processing options...
[BundlerApp::OnInit] Loading frame...
[BundlerApp::OnInit] Loading images...
[ReadGeometricConstraints] Reading 709 tracks
[ReadGeometricConstraints] Reading tracks took 0.000s
[ReadTrackPairs] Read 84 track pairs
Avg. proj error [0 projections] = -nan
[BundleAdjust] Adjusting cameras 7 and 8 (score = 0.000)
[GetJPEGDimensions] File ./kermit007.jpg: ( 640 , 480 )
[GetJPEGDimensions] File ./kermit008.jpg: ( 640 , 480 )
[BaseApp::SetTracks] Setting tracks for image 7...
[BaseApp::SetTracks] Finished in 0.000s
[BaseApp::SetTracks] Setting tracks for image 8...
[BaseApp::SetTracks] Finished in 0.000s
Found 103 / 106 inliers (97.170%)
[BundleAdjust] Adding initial matches...
Adding match 0 ==> 0 [0]
tri.error[0] = 0.570
Adding match 170 ==> 213 [1]
tri.error[1] = 0.268
Adding match 171 ==> 214 [2]
...
tri.error[104] = 0.141
Adding match 909 ==> 1037 [105]
tri.error[105] = 0.408
[DumpOutputFile] Wrote file in 0.080s
initial motstr-SBA error 21.4984 [0.101408]

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff635eb98 in dcopy_k_BARCELONA () from /usr/lib/libblas.so.3

from bundler_sfm.

Interesting, I have never seen that error before. It is crashing in the
low-level blas linear algebra library. It may be a bug or some kind of
incompatibility with the version of blas you are using? The only link that
google returns for dcopy_k_BARCELONA is here:
http://lists.scilab.org/pipermail/bugzilla/2011-November/016321.html

This suggests maybe switching to a different implementation of blas. Can
you check if you have OpenBlas installed, and can replace with, say, just
the regular reference BLAS? On Ubuntu you can search for possible blas
implementations via:

apt-cache search libblas

On Sun, Aug 17, 2014 at 6:19 PM, powersa [email protected] wrote:

Well, that's embarrassing, sorry Noah and thanks for your patience.

Here is the stack trace with the jpegs in the working dir. I removed some
of tri.error matches for readability.

(gdb) run list.txt --options_file options.txt
Starting program: /home/arpowers/bundler_sfm/bin/bundler list.txt
--options_file options.txt
warning: no loadable sections found in added symbol-file system-supplied
DSO at 0x7ffff7ffa000
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff3d46700 (LWP 2729)]

[OnInit] Running program /home/arpowers/bundler_sfm/bin/bundler
Loading images from file 'list.txt'
[BundlerApp::OnInit] Processing options...
[BundlerApp::OnInit] Loading frame...
[BundlerApp::OnInit] Loading images...
[ReadGeometricConstraints] Reading 709 tracks
[ReadGeometricConstraints] Reading tracks took 0.000s
[ReadTrackPairs] Read 84 track pairs

Avg. proj error [0 projections] = -nan
[BundleAdjust] Adjusting cameras 7 and 8 (score = 0.000)
[GetJPEGDimensions] File ./kermit007.jpg: ( 640 , 480 )
[GetJPEGDimensions] File ./kermit008.jpg: ( 640 , 480 )
[BaseApp::SetTracks] Setting tracks for image 7...
[BaseApp::SetTracks] Finished in 0.000s
[BaseApp::SetTracks] Setting tracks for image 8...
[BaseApp::SetTracks] Finished in 0.000s
Found 103 / 106 inliers (97.170%)
[BundleAdjust] Adding initial matches...
Adding match 0 ==> 0 [0]
tri.error[0] = 0.570
Adding match 170 ==> 213 [1]
tri.error[1] = 0.268
Adding match 171 ==> 214 [2]
...
tri.error[104] = 0.141
Adding match 909 ==> 1037 [105]
tri.error[105] = 0.408
[DumpOutputFile] Wrote file in 0.080s
initial motstr-SBA error 21.4984 [0.101408]

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff635eb98 in dcopy_k_BARCELONA () from /usr/lib/libblas.so.3

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#21 (comment).

from bundler_sfm.

Glad to hear it is working now. This should be useful for others who run
into similar BLAS-related problems.

Noah

On Sun, Aug 17, 2014 at 8:00 PM, powersa [email protected] wrote:

Bingo!

I had libopenblas-base, libblas3 and libblas-dev installed on my system.
These are the commands I ran to clean things up...

sudo apt-get autoremove libblas3
also removes libblas-dev

sudo apt-get autoremove libopenblas-base
installs libblas3 (when I attempted to make bundler_sfm at this point,
the process failed)

sudo apt-get install libblas-dev
bundler_sfm built and ran all the way through the kermit data set.

ls -l bundle/
total 692
-rw-r--r-- 1 arpowers arpowers 16427 Aug 17 16:52 bundle_001.out
-rw-r--r-- 1 arpowers arpowers 53927 Aug 17 16:52 bundle_004.out
-rw-r--r-- 1 arpowers arpowers 72471 Aug 17 16:52 bundle_006.out
-rw-r--r-- 1 arpowers arpowers 89384 Aug 17 16:52 bundle_008.out
-rw-r--r-- 1 arpowers arpowers 94007 Aug 17 16:52 bundle_009.out
-rw-r--r-- 1 arpowers arpowers 16419 Aug 17 16:52 bundle.init.out
-rw-r--r-- 1 arpowers arpowers 94007 Aug 17 16:52 bundle.out
-rw-r--r-- 1 arpowers arpowers 122389 Aug 17 16:52 out
-rw-r--r-- 1 arpowers arpowers 7517 Aug 17 16:52 points001.ply
-rw-r--r-- 1 arpowers arpowers 22230 Aug 17 16:52 points004.ply
-rw-r--r-- 1 arpowers arpowers 27375 Aug 17 16:52 points006.ply
-rw-r--r-- 1 arpowers arpowers 32897 Aug 17 16:52 points008.ply
-rw-r--r-- 1 arpowers arpowers 34291 Aug 17 16:52 points009.ply

Looks like libopenblas-base was the culprit. I recommend following the
steps outlined above to get the proper install of libblas. Thanks for your
time Noah!

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#21 (comment).

from bundler_sfm.

@powersa Thank you very much. I encountered the same problem and it was solved after following your advise.

PS: Someone may have to install lapack after executing above commands.

sudo apt-get install liblapack-dev

from bundler_sfm.

Thanks guys. @powersa I've also encountered same issue. Got solved by this post. @snavely @powersa Thank you very much

Now trying to fix scanalyze :)

from bundler_sfm.

@powersa Thank you very much! I encountered the same problem and it was solved after following your advise.
PS: Use "autoremove" with caution

from bundler_sfm.

Thank you, guys. @powersa This was the only solution on the whole internet that helped me.

from bundler_sfm.

Thank you very mush! The only solution for the same proplem! @powersa @zwzmzd

from bundler_sfm.