Update to recent vcpkg version

In particular: 
* Use a recent commit of vcpkg, microsoft/vcpkg@28ab0b1 that contains microsoft/vcpkg#10644 
* Update qt5 to build with the `latest` feature, that install qt 5.14 that should be the first version of qt completely relocatable ( https://www.qt.io/blog/qt-is-relocatable )  
* Substitute opencv3 with opencv, that install opencv4 
* Install also `asio`, `boost-asio`, `boost-process`, `boost-dll`,  `boost-filesystem` and `boost-system`, to fix robotology#7 
* As the newer version of vcpkg are affected by the bug microsoft/vcpkg#10119, clone the `robotology-vcpkg-binary-ports` repo in `C:/robotology`, so that it will be contained in the same archive  used to distribute the vcpkg dependencies .

.github/workflows/ci.yml

@@ -36,17 +36,8 @@ jobs:
         rm robotology-vcpkg-2019.10-ace.zip
         cd C:/robotology/vcpkg
         # Update vcpkg to a newer commit
-        git fetch
+        git pull
         git checkout 5852144908b2c714be6f0d343f1de01ca2ec7758
-        C:/robotology/vcpkg/bootstrap-vcpkg.sh
-        git clone https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports C:/robotology/robotology-vcpkg-binary-ports
-        cd C:/robotology/robotology-vcpkg-binary-ports
-        git checkout v0.1.0
-
-    - name: Install vcpkg ports
-      shell: bash
-      run: |
-        # TinyXML is not installed as a workaround for https://github.com/robotology/ycm/pull/296
         C:/robotology/vcpkg/vcpkg.exe --overlay-ports=C:/robotology/robotology-vcpkg-binary-ports install --triplet x64-windows ace asio boost-asio boost-process boost-dll boost-filesystem boost-system freeglut gsl eigen3 esdcan-binary ode openssl libxml2 eigen3 opencv matio sdl1 sdl2 qt5-base[latest] ipopt-binary qt5-declarative qt5-multimedia qt5-quickcontrols qt5-quickcontrols2 sqlite3[core,tool]
 
     # Remove temporary files https://github.com/Microsoft/vcpkg/blob/master/docs/about/faq.md#how-can-i-remove-temporary-files
@@ -58,7 +49,7 @@ jobs:
         RMDIR /Q/S C:\robotology\vcpkg\buildtrees
         RMDIR /Q/S C:\robotology\vcpkg\packages
         RMDIR /Q/S C:\robotology\vcpkg\downloads
-        
+
     - uses: actions/upload-artifact@master
       with:
         name: vcpkg-robotology