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/usr/lib/pkgconfig/ps-engine.pc is in libopenni-sensor-pointclouds-dev 5.1.0.41.9-1.

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prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib

Name: ps-engine
Description: Primesense SDK Driver Plugin for OpenNI
Version: 5.0.3.3
Requires: openni-dev >= 1.3.2.1

Libs: -L${libdir} -lXnCore -lXnDDK -lXnFormats