ENH: Transition project configuration to `pyproject.toml`

[jhlegarreta]

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Transition project configuration to pyproject.toml.

Used the setup-py-to-pyproject-toml.py script in the ITKModuleTemplate repository: https://github.com/InsightSoftwareConsortium/ITKModuleTemplate

as a starting base, then made manual changes as necessary.

Require itk == 5.4.* and bump the package to a new minor version.