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Cleanup CMake for FFTW using PkgConfig

Bram Veenboer requested to merge cleanup-cmake-fftw into master

The FindFFTW3.cmake helper file has been removed and PkgConfig is used instead. This solution is based on https://stackoverflow.com/a/68220409/2528536.

The CMake assumes either FFTW, or MKL. The MKL part will be cleaned up in a follow-up MR.

Edited by Bram Veenboer

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