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cmake: only override install prefix if default initialized

Stephan Lachnit requested to merge slachnit/peary:p-fix-cmake-install-prefix into master

For #33 (closed)

In addition to using CMAKE_INSTALL_PREFIX instead of INSTALL_PREFIX, we also actually need to check if CMAKE_INSTALL_PREFIX is default initialized. Luckily, CMake has us covered exactly for this use case: https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT.html

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