build(deb): fix source tree path leaking into package

[einhander]

 - Add -fdebug-prefix-map to debian/rules to remap absolute build
    paths to relative in DWARF debug info
  - Fix configure_file to output Version.cpp into BINARY_DIR instead
    of polluting the source tree
  - Replace global include_directories with target_include_directories
    to scope include paths to the target only
  - Fix Makefile install target: pass DESTDIR as env variable and
    --prefix separately so cmake --install uses correct paths
  - Add override_dh_auto_install with PREFIX=/usr in debian/rules
  - Add CMAKE_*_RPATH options to control rpath behaviour
  - Switch deb target from dpkg-buildpackage -F to debuild -uc -us