Implemented set_chapters method

[DE-AI]

This is a follow up of #1997 and implements the set chapter method.

Example usage:

chapters = [
        {
            "id": 1,
            "start": 0,
            "end": 5000,
            "time_base": Fraction(1, 1000),
            "metadata": {"title": "start"},
        }
    ]

path = "path/to/video"
with av.open(path) as container:
    container.set_chapters(chapters)
    assert container.chapters() == chapters

Related issue: #1710