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[cmake] respect `CMAKE_INSTALL_*DIR` settings

Stephan Lachnit requested to merge slachnit/peary:p-gnu-install-dirs into master

Currently, peary hardcodes install locations like bin, lib and include. However, these are not necessarily correct on all platforms. In fact, lib for the library dir is incorrect for Debian-based distributions, which can lead to complications.

This MR changes uses CMake's GNUInstallDirs module to select the correct install directories. As a part of this change and to ensure that peary can be interfaced like standard CMake projects, the INSTALL_PREFIX option is removed and instead the CMake default CMAKE_INSTALL_PREFIX variable is exposed.

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