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:zap: The Mobile Robot Programming Toolkit (MRPT)
https://docs.mrpt.org/reference/latest/
BSD 3-Clause "New" or "Revised" License
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Investigate build failure on Ubuntu 17.04 #526

Closed jolting closed 7 years ago

jolting commented 7 years ago

The workaround is to install libmpich-dev, but I don't know why libopenmpi-dev isn't working. I think libmpi is a dependency of vtk. Perhaps libvtk6-dev has a problem.

Here's a full log: https://launchpadlibrarian.net/321484880/buildlog_ubuntu-zesty-i386.mrpt_1%3A1.5.0~snapshot201705262258-git-0c6a3ea-201705280416~ubuntu17.04.1_BUILDING.txt.gz

The build fails with:

make[4]: *** No rule to make target '/usr/lib/libmpi.so', needed by 'lib/libmrpt-maps.so.1.5.0'.  Stop.

There are also many cmake generation warnings

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-detectors
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/detectors/CMakeLists.txt:8 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-graphslam
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/graphslam/CMakeLists.txt:4 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-hmtslam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/hmtslam/CMakeLists.txt:2 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-hwdrivers
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/hwdrivers/CMakeLists.txt:162 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-maps because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/maps/CMakeLists.txt:26 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-nav because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/nav/CMakeLists.txt:25 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-pbmap because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/pbmap/CMakeLists.txt:8 (define_mrpt_lib)

CMake Warning at cmakemodules/DeclareMRPTLib.cmake:149 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target mrpt-slam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  cmakemodules/DeclareMRPTLib.cmake:4 (internal_define_mrpt_lib)
  libs/slam/CMakeLists.txt:16 (define_mrpt_lib)

CMake Warning at apps/2d-slam-demo/CMakeLists.txt:31 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target 2d-slam-demo because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/GridmapNavSimul/CMakeLists.txt:27 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target GridmapNavSimul
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/RawLogViewer/CMakeLists.txt:48 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target RawLogViewer because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/ReactiveNav3D-Demo/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target ReactiveNav3D-Demo
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/ReactiveNavigationDemo/CMakeLists.txt:33 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target
  ReactiveNavigationDemo because files in some directories may conflict with
  libraries in implicit directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/SceneViewer3D/CMakeLists.txt:32 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target SceneViewer3D because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/camera-calib/CMakeLists.txt:31 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target camera-calib because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/gps2rawlog/CMakeLists.txt:9 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target gps2rawlog because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/graph-slam/CMakeLists.txt:16 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target graph-slam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/graphslam-engine/CMakeLists.txt:25 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target graphslam-engine
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/grid-matching/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target grid-matching because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/hmt-slam/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target hmt-slam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/hmt-slam-gui/CMakeLists.txt:33 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target hmt-slam-gui because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/hmtMapViewer/CMakeLists.txt:26 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target hmtMapViewer because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/holonomic-navigator-demo/CMakeLists.txt:31 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target
  holonomic-navigator-demo because files in some directories may conflict
  with libraries in implicit directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/icp-slam/CMakeLists.txt:16 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target icp-slam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/icp-slam-live/CMakeLists.txt:4 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target icp-slam-live because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/image2gridmap/CMakeLists.txt:6 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target image2gridmap because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/kf-slam/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target kf-slam because files
  in some directories may conflict with libraries in implicit directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/kinect-3d-slam/CMakeLists.txt:14 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target kinect-3d-slam
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/kinect-3d-view/CMakeLists.txt:14 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target kinect-3d-view
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/kinect-stereo-calib/CMakeLists.txt:28 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target kinect-stereo-calib
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/map-partition/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target map-partition because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/mrpt-performance/CMakeLists.txt:21 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target mrpt-performance
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/navlog-viewer/CMakeLists.txt:31 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target navlog-viewer because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/observations2map/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target observations2map
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/pf-localization/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target pf-localization
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/ptg-configurator/CMakeLists.txt:24 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target ptg-configurator
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/rawlog-edit/CMakeLists.txt:9 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target rawlog-edit because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/rawlog-grabber/CMakeLists.txt:56 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target rawlog-grabber
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/rbpf-slam/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target rbpf-slam because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/ro-localization/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target ro-localization
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/rrtstar-demo/CMakeLists.txt:6 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target rrtstar-demo because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/simul-beacons/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target simul-beacons because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/simul-gridmap/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target simul-gridmap because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/simul-landmarks/CMakeLists.txt:18 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target simul-landmarks
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/track-video-features/CMakeLists.txt:16 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target track-video-features
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at apps/velodyne-view/CMakeLists.txt:10 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target velodyne-view because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at tests/CMakeLists.txt:59 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target test_mrpt_nav because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at tests/CMakeLists.txt:59 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target test_mrpt_maps
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at tests/CMakeLists.txt:59 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target test_mrpt_hwdrivers
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at tests/CMakeLists.txt:59 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target test_mrpt_graphslam
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at tests/CMakeLists.txt:59 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target test_mrpt_slam
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.

CMake Warning at python/CMakeLists.txt:16 (add_library):
  Cannot generate a safe runtime search path for target pymrpt because files
  in some directories may conflict with libraries in implicit directories:

    runtime library [libmpi.so] in /usr/lib may be hidden by files in:
      /usr/lib/i386-linux-gnu/openmpi/lib

  Some of these libraries may not be found correctly.
jlblancoc commented 7 years ago

In the PPA, Zesty 17.04 builds ok...

Neither PCL nor VTK are installed in the PPA packages, so your guess about the suspect seems right. Both have very little use (marginal, actually) inside MRPT, so the easiest thing to do would be... don't build against them!

If for some reason the libs are installed, setting DISABLE_PCL=ON and DISABLE_VTK=ON in CMake would make the work...

jolting commented 7 years ago

This bug was reported and apparently fixed in the latest VTK6. Hopefully VTK6 gets patched/upgraded in 17.10. https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=848785

jolting commented 7 years ago

@jlblancoc By the way the difference between the standard PPA dependencies and the ones I build with is:

    libpcl-dev | libpcl-1.7-all-dev,
    liblas-dev,
    liblas-c-dev,

For completeness I turned everything on. liblas seems fairly benign, but PCL is always broken due to some VTK cmake issues.

jlblancoc commented 7 years ago

Good to know, thanks! 👍

BTW: I didn't enabled by default liblas-dev in PPA or Debian/Ubuntu because it has what I believe is a marginal use, but instead it has huge dependencies, in the order of hundreds of MBs, if I recall it right (!!)