Replace ctypes with another C/C++ interface framework

[dubusster]

Currently, python code interfaces the C code with ctypes. It is a bit of a hassle to manage the compilation pipeline and wheel building pipeline as it is totally agnostic of the operating system (which shouldn't as there are C shared lib).

A better binding system would contribute to ease the developer experience.

Hence, I propose to use pybind11 which is quite easy to transfer from ctypes