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/usr/lib/x86_64-linux-gnu/pkgconfig/mrpt-opengl.pc is in libmrpt-dev 1:1.4.0-7.

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# This file is a parsed version for mrpt_pkgconfig_LIBNAME= opengl
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib/x86_64-linux-gnu
includedir=${prefix}/include

Name: The mrpt-opengl library
Description: Mobile Robot Programming Toolkit (MRPT) - opengl library
URL: http://www.mrpt.org/
Requires: mrpt-base,eigen3
Version: 1.4.0
Libs: -L${libdir}  -lmrpt-opengl
Libs.private: general;rt;avcodec;avformat;avutil;swscale
Cflags: -I${includedir}/mrpt/opengl/include/ -I${includedir}/mrpt/mrpt-config/ 

#@ wxWidgets_CXX_FLAGS @