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Martin's monster merge part 4/N: revamp dependencies, switch to pyHealpix

Martin Reinecke requested to merge mmm4 into master

This part is unfortunately fairly big, but I couldn't produce smaller, self-consistent patches.

The software dependencies were adjusted: healpy and friends are gone, pyHealpix was added. Code and tests had to be adjusted accordingly.

README.md now reflects the new installation procedure.

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