Use standard CMAKE_INSTALL_{BIN,LIB}DIR instead of INSTALL_{BIN,LIB}_DIR.

Overriding the latters caused me to see these files installed in ${DESTDIR}/${BUILD_DIR}
Merge branch 'cmakeinstall' of https://github.com/aballier/rtabmap
using CMAKE_INSTALL_DATAROOTDIR variable instead of explicitly setting "share"