[vcpkg baseline][rtabmap] Fix dependency issue when build tools

[PhoebeHui]

Related #14290

1.Update to build tools as a feature
2. When build tools, it requires yaml-cpp to build rtabmap-euroc_dataset, add the dependency.

Check all tools in https://github.com/introlab/rtabmap/blob/master/tools/CMakeLists.txt

• ImagesJoiner and StereoEval tools not installed by the Upstream
• The rtabmap_gui not built since we disabled QT,
• OPENCV_NONFREE not found when I installed opencv[nonfree] feature, I didn't find related macro exported. So I think we have coverred all tools here.

Failrues:

- Performing post-build validation
The following EXEs were found in /bin or /debug/bin. EXEs are not valid distribution targets.

    D:/packages/rtabmap_x64-windows/bin/rtabmap-euroc_dataset.exe

The following EXEs were found in /bin or /debug/bin. EXEs are not valid distribution targets.

    D:/packages/rtabmap_x64-windows/debug/bin/rtabmap-euroc_dataset.exe

Found 2 error(s). Please correct the portfile:

[BillyONeal]

Thanks! This port really needed "with all the other ports installed" testing :(

Someday!