[SPARK-12599][MLlib][SQL] Remove the use of callUDF in MLlib

[rxin]

callUDF has been deprecated. However, we do not have an alternative for users to specify the output data type without type tags. This pull request introduced a new API for that, and replaces the invocation of the deprecated callUDF with that.

[SparkQA]

Test build #48570 has finished for PR 10547 at commit f6eb35a.

• This patch fails PySpark unit tests.
• This patch merges cleanly.
• This patch adds no public classes.

[SparkQA]

Test build #2292 has finished for PR 10547 at commit f6eb35a.

• This patch fails PySpark unit tests.
• This patch merges cleanly.
• This patch adds no public classes.

[SparkQA]

Test build #2293 has finished for PR 10547 at commit f6eb35a.

• This patch fails PySpark unit tests.
• This patch merges cleanly.
• This patch adds no public classes.

[SparkQA]

Test build #2296 has finished for PR 10547 at commit f6eb35a.

• This patch passes all tests.
• This patch merges cleanly.
• This patch adds no public classes.

[rxin]

I'm merging this.