python: Move the rfnoc image builder module under the uhd module

Note: This commit changes nothing to the way the image builder is being
called. One can still run

    rfnoc_image_builder [...]

as before. The difference is in the Python guts:
Where previously one had to do

    import rfnoc

now the incantation becomes:

    from uhd import imgbuilder

(Note that the submodule uhd.rfnoc already exists for wrapping the RFNoC
API into Python, hence the renaming from rfnoc to imgbuilder).

This is done for a variety of reasons:

- Now, there is only one and exactly one Python module for UHD that
  contains all the things, as opposed to before where there were two.
- The rfnoc and uhd modules were installed in different ways (setuptools
  vs. CMake); that is now harmonized. This also removes a lot of CMake
  plumbing.
- It is not common to import the rfnoc module for anyone other than
  rfnoc_image_builder

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