feat(vid): port VID from another repo

[ggutoski]

Description

closes: #336

A direct port of vid from hotshot-primitives repo. Nontrivial changes:

• Feature-gate tests with test-srs feature. (This was much easier from another repo because test-srs could be specified in a dev-dependency in Cargo.toml, but there seems to be no idiomatic way to enable a feature of the present crate only for test/bench code 😢 .)
• Support no_std. Remove use of thiserror crate, which is not no_std compatible, and tweak associated error-handling code.

---

Before we can merge this PR, please make sure that all the following items have been
checked off. If any of the checklist items are not applicable, please leave them but
write a little note why.

• Targeted PR against correct branch (main)
• Linked to GitHub issue with discussion and accepted design OR have an explanation in the PR that describes this work.
• Wrote unit tests
• Updated relevant documentation in the code
• Added a relevant changelog entry to the Pending section in CHANGELOG.md
• Re-reviewed Files changed in the GitHub PR explorer

[alxiong]

Thanks Gus! generally LGTM, left a few comments.