CMake: Bump minimum version

[jschueller]

Avoids this deprecation message:

CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 94.1%. Comparing base (3af5641) to head (0724d99).
Report is 46 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff            @@
##           master    #176     +/-   ##
========================================
+ Coverage    93.2%   94.1%   +0.8%     
========================================
  Files          45      48      +3     
  Lines        2400    2555    +155     
  Branches        0     294    +294     
========================================
+ Hits         2239    2406    +167     
+ Misses        161     149     -12     

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[yixuan]

Looks good. Thanks.