use pipenv to manage dependencies

[sp3c73r2038]

• based on this branch https://github.com/Wiredcraft/pipelines/tree/py2-to-py3-bump-requirement
• remove requiements.txt, it causes depending on indirect dependencies
• use pipenv to install dependencies
• use pipenv-sync to sync Pipefile.lock to setup.py
• update Makefile to adapt virtualenv
• pipelines can still install by pip install
• update README and For-developers doc