Fix CMake generation for minimal CMake version (3.2.3)

Unfortunately `execute_process(COMMAND pkg-config ...)` used for
CMake versions lower than 3.4 appends a trailing newline ('\n')
to the output variable which must be removed.

Replace double slash '//' returned by pkg-config with a single '/'
for consistency (applies to all CMake versions).

Tested with CMake 3.2.3 but we should probably raise the minimal
CMake version to a more recent version in the future.

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