OP
I'm an adoptive parent and have similar feelings towards my child who came to us as a baby. I found/find it difficult to bond and suffered post adoption depression.
I know that it's a different situation as your baby is your biological child, but studies show that there can lots of similar feelings /difficulties bonding with an unexpected/unplanned pregnancy and parents whose children who have been in special care and haven't had the chance for immediate skin on skin, and all of the closeness that comes after giving birth.
On top of this you're sleep deprived, overwhelmed at this unexpected change of life and may have post natal depression. It's hard to see a happy future when you're in the fog, but talking to someone could help and possibly some medication just to get you feeling more on an even keel.
I went to my GP who was great and didn't make me feel like a failure, she told me that it's very common and if it was any other illness like high blood pressure I wouldn't have thought twice about getting help. It was a turning point.
Baby groups can be mind numbing and they were never my thing, but I signed up for baby sensory class and a (small) mum & baby swimming group. Both were fun because they helped bonding (skin to skin) and were activities rather than baby groups where you have to drink tea and chat.
You didn't have the best start in bonding but it's not too late. Google Theraplay, Attachment Parenting to give you some tools/tips for building attachment with your baby.
I hope this helps