Support PySpark v3

[rokek]

I would like to include pyrasterframes in my project but its requirement for pyspark==2.4.7 conflicts with other packages that require pyspark v3. The conflicting packages are fundamental to my project and therefore I'm blocked from using pyrasterframes.

I'd be happy to submit a PR if you might be kind enough to let me know what challenges exist with adding support for pyspark v3.

[metasim]

In progress: https://github.com/locationtech/rasterframes/pull/554