Add IO Module with Better NumPy Interface

[brendancol]

Some ideas on a more functional approach which target numpy.ndarray and affine.Affine as the key arguments for adding rasters to BigQuery.

[brendancol]

9

[brendancol]

• [x] Add more tests for IO module (hook up to TIFF fixture)
• [x] Integrate IO Module with CLI
• [ ] Make sure tests pass same as upload.py
• [x] Remove upload.py
• [x] Remove utils.py
• [x] Remove errors.py

[brendancol]

• [ ] Update Examples
• [ ] Create New Examples