Creating custom h5 wrapper

[tmcg0]

The h5 file format needs of bioslam are really slim: basic reading and writing of common types to and from files. As a result, requiring HighFive as a dependency is a little overkill. I would like to remove this dependency by creating a lightweight .h5 wrapper for bioslam purposes.

Recommendation: create a namespace called h5utils which contains the few simple functions we need. h5utils should include the raw h5df cpp utilities (i.e., those included when apt install libhdf5-serial-dev is run, which is already a stated dependency of bioslam via HighFive). This would allow us to cut out the middle man, so to say.