Drop support for kaldi-io
Signed-off-by: smajumdar <titu1994@gmail.com>

# What does this PR do ?

Remove all support for kaldi-io.
Reason - very old library that has poor logging format and is very rarely used.

**Collection**: [ASR]

# Changelog 
- Remove any support for kaldi-io
  
**PR Type**:
- [ ] New Feature
- [x] Bugfix
- [ ] Documentation