If the recipe properly uses CMake and in particular the GnuInstallDirs setup, this should work just fine. You indeed need to specify several directories. In your example error, it’s trying to create an “include” directory where in Haiku this should be “headers”
You also need to set CMAKE_INSTALL_PREFIX to point to the appropriate place ($prefix in haikuports, or /boot/system/non-packaged if you want to install locally for example).
In the case of haikuporter, the only thing you really need to do is to pass $cmakeDirArgs to cmake when invoking it in the recipe. If this doesn’t work, it means the CMakeLists were not written using the best practises and they should be improved to work in that case.