Fix custom includedir & libdir substitution in pkg-config #280
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Do not prepend ${prefix} to substituted includedir & libdir
in the pkg-config file -- if the paths are overriden by user, CMake puts
absolute paths there (even if user specifies a relative path). Instead,
use the absolute path provided by CMake and appropriately default
LIBRARY_INSTALL_DIR & INCLUDE_INSTALL_DIR to absolute paths with
${CMAKE_INSTALL_PREFIX} prepended.
Fixes: #279