Although the question has been answered by @DavidCarlisle in the comment, I'll try to complete the answer here.
This is not supposed to happen for valid eps files, as they should contain a BoundingBox comment and the graphicx package should be able to read it. The error message is typical when including bitmap graphics, e.g. jpg, as explained here.
In case you have a peculiar eps file which contains a BoundingBox comment but, for some reason, graphicx cannot read it, you can try searching your file. Do this either by opening the file in a text editor or by using something like the grep command:
grep BoundingBox figure.eps
You should normally see a line like:
%%BoundingBox: 0 0 30 30
Then, update your \includegraphics by supplying that:
\includegraphics[scale=1,bb=0 0 30 30]{figure}
In case you cannot find a bounding box (and your eps file is still usable, of course, which may not be the case), I'd suggest that you try guessing it. Start, e.g. with bb=0 0 100 100 and see what you get, then try increasing or decreasing the numbers. They are, in turn: lower-left-x (llx), lower-left-y (lly), upper-right-x (urx), and upper-right-y (ury). The width of the picture is urx-llx and the height is ury-lly.
%%BoundingBox: 1 2 3 4) It should have if it is a valid EPS file. – David Carlisle Sep 17 '13 at 19:24figure.epsin a text_editor and search for the word:BoundingBox. If it is not there, then something is wrong. What is the source of your figure? – hpekristiansen Sep 17 '13 at 19:29dvipsthat can't find it properly, but in any case, we always have to make repairs. so i made an assumption ... – barbara beeton Sep 17 '13 at 21:14\includegraphics[bb=0 0 100 100]{figure}? – Jan 29 '14 at 08:38abc.def.png– Ashot Matevosyan Sep 24 '19 at 10:57