Update to next pybind major version 3#296
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Drop support for Python 3.7 and CMake < 3.15.
Versions below that level are not really tested.
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Set pybind11 version to be used for packaging to 3.0.0. The new major version works out of the box, so no need to drop support for version 2 completely. Still increase minimum versions for a couple of dependencies to something that can be reasonably tested: Python >=3.8, boost >= 1.70, pybind11 >= 2.9 and CMake >= 2.15.