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amockamock
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Merge pull request #16 from uos/develop
RCCVulkan
2 parents 0f1a8c8 + 88a2720 commit 3250e9c

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11 files changed

+610
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‎rmcl/CMakeLists.txt‎

Lines changed: 52 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
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cmake_minimum_required(VERSION 3.16)
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project(rmcl
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LANGUAGES CXX C
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VERSION 2.3.0
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VERSION 2.4.0
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)
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option(BUILD_TESTS "Build tests" ON)
@@ -59,16 +59,19 @@ if(TARGET TBB::tbb)
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endif()
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# only print warning for Rmagine version greater than RMAGINE_MAX_VERSION
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set(RMAGINE_MAX_VERSION "2.4.0")
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set(RMAGINE_MAX_VERSION "2.5.0")
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find_package(rmagine 2.3.2
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find_package(rmagine 2.4.0
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COMPONENTS
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core
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OPTIONAL_COMPONENTS
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embree
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cuda
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optix
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vulkan
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vulkan-cuda-interop
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)
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# not quite sure if it is vulkan_cuda_interop or vulkan-cuda-interop or vulkanCudaInterop
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if(rmagine_VERSION GREATER RMAGINE_MAX_VERSION)
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message(WARNING "Found Rmagine version: ${rmagine_VERSION} > Latest tested Rmagine version: ${RMAGINE_MAX_VERSION}. Compile at your own risk.")
@@ -94,6 +97,10 @@ if(TARGET rmagine::optix)
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option(DISABLE_OPTIX "Disable Rmagine OptiX backend Compilation" FALSE)
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endif()
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if(TARGET rmagine::vulkan AND TARGET rmagine::vulkan-cuda-interop AND TARGET rmagine::cuda)
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option(DISABLE_VULKAN "Disable Rmagine Vulkan backend Compilation" FALSE)
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endif()
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find_package(Eigen3 REQUIRED)
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set(RMCL_LIBRARIES rmcl)
@@ -110,6 +117,10 @@ if(TARGET rmagine::optix AND NOT ${DISABLE_OPTIX})
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list(APPEND RMCL_LIBRARIES rmcl-optix)
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endif()
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if(TARGET rmagine::vulkan AND TARGET rmagine::vulkan-cuda-interop AND TARGET rmagine::cuda AND NOT ${DISABLE_VULKAN})
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list(APPEND RMCL_LIBRARIES rmcl-vulkan)
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endif()
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include_directories(
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include
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)
@@ -302,6 +313,44 @@ if(TARGET rmagine::optix AND NOT ${DISABLE_OPTIX})
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set(RMCL_OPTIX True)
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endif()
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# VULKAN
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if(TARGET rmagine::vulkan AND TARGET rmagine::vulkan-cuda-interop AND TARGET rmagine::cuda AND NOT ${DISABLE_VULKAN})
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add_library(rmcl-vulkan SHARED
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# math
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src/rmcl/registration/RCCVulkan.cpp
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)
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target_link_libraries(rmcl-vulkan
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rmagine::vulkan
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rmagine::vulkan-cuda-interop
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rmagine::cuda
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${CUDA_LIBRARIES}
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)
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target_include_directories(rmcl-vulkan
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/rmcl-${rmcl_VERSION}>
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)
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set_target_properties(rmcl-vulkan
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PROPERTIES
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SOVERSION ${rmcl_VERSION_MAJOR}
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VERSION ${rmcl_VERSION}
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# CXX_STANDARD 17
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)
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install(TARGETS rmcl-vulkan
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EXPORT rmcl-targets
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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add_definitions(-DRMCL_VULKAN)
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set(RMCL_VULKAN True)
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endif()
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### INSTALL
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include(CMakePackageConfigHelpers)
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‎rmcl/include/rmcl/registration/RCCVulkan.hpp‎

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Original file line numberDiff line numberDiff line change
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#ifndef RMCL_ROS_CORRECTION_RCC_VULKAN_HPP
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#define RMCL_ROS_CORRECTION_RCC_VULKAN_HPP
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#include <rmagine/types/MemoryCuda.hpp>
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#include <rmagine/types/PointCloud.hpp>
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#include <rmagine/map/VulkanMap.hpp>
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8+
#include <rmagine/simulation/SphereSimulatorVulkan.hpp>
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#include <rmagine/simulation/PinholeSimulatorVulkan.hpp>
10+
#include <rmagine/simulation/O1DnSimulatorVulkan.hpp>
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#include <rmagine/simulation/OnDnSimulatorVulkan.hpp>
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13+
#include <rmagine/types/MemoryVulkanCudaInterop.hpp>
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#include <rmcl/registration/CorrespondencesCUDA.hpp>
16+
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namespace rm = rmagine;
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namespace rmcl
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{
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/**
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* this is not a very mice way to handle the views, but i could not find a better way right now...
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*
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* views need to be recreated every time the results buffers get resized...
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*
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* however using these views to copy from vulkan memory to cuda memory is faster than copying directly,
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* because you dont need to fetch a file descriptor every time.
29+
*/
30+
struct ViewContainer
31+
{
32+
ViewContainer(rm::MemoryView<uint8_t, rm::DEVICE_LOCAL_VULKAN>& hits,
33+
rm::MemoryView<rm::Point, rm::DEVICE_LOCAL_VULKAN>& points,
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rm::MemoryView<rm::Vector, rm::DEVICE_LOCAL_VULKAN>& normals) :
35+
hits_view(hits), points_view(points), normals_view(normals) {}
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37+
rmagine::MemoryView<uint8_t, rm::VULKAN_AS_CUDA> hits_view;
38+
rmagine::MemoryView<rm::Point, rm::VULKAN_AS_CUDA> points_view;
39+
rmagine::MemoryView<rm::Vector, rm::VULKAN_AS_CUDA> normals_view;
40+
};
41+
using ViewContainerPtr = std::unique_ptr<ViewContainer>;
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class RCCVulkanSpherical
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: public CorrespondencesCUDA
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, public rmagine::ModelSetter<rmagine::SphericalModel>
48+
, protected rmagine::SphereSimulatorVulkan
49+
{
50+
public:
51+
52+
RCCVulkanSpherical(
53+
rmagine::VulkanMapPtr map);
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55+
void setModel(const rmagine::SphericalModel& sensor_model);
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virtual void setTsb(const rmagine::Transform& Tsb) override;
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virtual void find(const rmagine::Transform& Tbm_est);
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private:
62+
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rmagine::SphericalModel model_cache_;
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//TODO: mapping in gegenrichtung nutzen, sobald es in rmagine existiert
66+
rmagine::Bundle<
67+
rmagine::Points<rm::DEVICE_LOCAL_VULKAN>, // model points
68+
rmagine::Normals<rm::DEVICE_LOCAL_VULKAN>, // model normals
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rmagine::Hits<rm::DEVICE_LOCAL_VULKAN> // correspondence mask
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> model_buffers_vulkan_;
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72+
ViewContainerPtr viewContainer = nullptr;
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};
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class RCCVulkanPinhole
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: public CorrespondencesCUDA
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, public rmagine::ModelSetter<rmagine::PinholeModel>
79+
, protected rmagine::PinholeSimulatorVulkan
80+
{
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public:
82+
83+
RCCVulkanPinhole(
84+
rmagine::VulkanMapPtr map);
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86+
void setModel(const rmagine::PinholeModel& sensor_model);
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88+
virtual void setTsb(const rmagine::Transform& Tsb) override;
89+
90+
virtual void find(const rmagine::Transform& Tbm_est);
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private:
93+
rmagine::PinholeModel model_cache_;
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95+
//TODO: mapping in gegenrichtung nutzen, sobald es in rmagine existiert
96+
rmagine::Bundle<
97+
rmagine::Points<rm::DEVICE_LOCAL_VULKAN>, // model points
98+
rmagine::Normals<rm::DEVICE_LOCAL_VULKAN>, // model normals
99+
rmagine::Hits<rm::DEVICE_LOCAL_VULKAN> // correspondence mask
100+
> model_buffers_vulkan_;
101+
102+
ViewContainerPtr viewContainer = nullptr;
103+
};
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class RCCVulkanO1Dn
107+
: public CorrespondencesCUDA
108+
, public rmagine::ModelSetter<rmagine::O1DnModel>
109+
, protected rmagine::O1DnSimulatorVulkan
110+
{
111+
public:
112+
113+
RCCVulkanO1Dn(
114+
rmagine::VulkanMapPtr map);
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116+
void setModel(const rmagine::O1DnModel& sensor_model);
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118+
virtual void setTsb(const rmagine::Transform& Tsb) override;
119+
120+
virtual void find(const rmagine::Transform& Tbm_est);
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private:
123+
rmagine::O1DnModel model_cache_;
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125+
//TODO: mapping in gegenrichtung nutzen, sobald es in rmagine existiert
126+
rmagine::Bundle<
127+
rmagine::Points<rm::DEVICE_LOCAL_VULKAN>, // model points
128+
rmagine::Normals<rm::DEVICE_LOCAL_VULKAN>, // model normals
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rmagine::Hits<rm::DEVICE_LOCAL_VULKAN> // correspondence mask
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> model_buffers_vulkan_;
131+
132+
ViewContainerPtr viewContainer = nullptr;
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};
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135+
class RCCVulkanOnDn
136+
: public CorrespondencesCUDA
137+
, public rmagine::ModelSetter<rmagine::OnDnModel>
138+
, protected rmagine::OnDnSimulatorVulkan
139+
{
140+
public:
141+
142+
RCCVulkanOnDn(
143+
rmagine::VulkanMapPtr map);
144+
145+
void setModel(const rmagine::OnDnModel& sensor_model);
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147+
virtual void setTsb(const rmagine::Transform& Tsb) override;
148+
149+
virtual void find(const rmagine::Transform& Tbm_est);
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private:
152+
rmagine::OnDnModel model_cache_;
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//TODO: mapping in gegenrichtung nutzen, sobald es in rmagine existiert
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rmagine::Bundle<
156+
rmagine::Points<rm::DEVICE_LOCAL_VULKAN>, // model points
157+
rmagine::Normals<rm::DEVICE_LOCAL_VULKAN>, // model normals
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rmagine::Hits<rm::DEVICE_LOCAL_VULKAN> // correspondence mask
159+
> model_buffers_vulkan_;
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161+
ViewContainerPtr viewContainer = nullptr;
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};
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} // namespace rmcl
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#endif // RMCL_ROS_CORRECTION_RCC_EMBREE_HPP

‎rmcl/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>rmcl</name>
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<version>2.3.0</version>
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<version>2.4.0</version>
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<description>The rmcl package</description>
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<maintainer email="amock@uos.de">Alexander Mock</maintainer>
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9-
<license>BSD</license>
9+
<license>BSD-3-Clause</license>
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<author email="amock@uos.de">Alexander Mock</author>
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<buildtool_depend>cmake</buildtool_depend>

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