[SPARK-4477] [PySpark] remove numpy from RDDSampler

In RDDSampler, it try use numpy to gain better performance for possion(), but the number of call of random() is only (1+faction) * N in the pure python implementation of possion(), so there is no much performance gain from numpy.

numpy is not a dependent of pyspark, so it maybe introduce some problem, such as there is no numpy installed in slaves, but only installed master, as reported in SPARK-927.

It also complicate the code a lot, so we may should remove numpy from RDDSampler.

I also did some benchmark to verify that:
```
>>> from pyspark.mllib.random import RandomRDDs
>>> rdd = RandomRDDs.uniformRDD(sc, 1 << 20, 1).cache()
>>> rdd.count()  # cache it
>>> rdd.sample(True, 0.9).count()    # measure this line
```
the results:

|withReplacement      |  random  | numpy.random |
 ------- | ------------ |  -------
|True | 1.5 s|  1.4 s|
|False|  0.6 s | 0.8 s|

closes #2313

Note: this patch including some commits that not mirrored to github, it will be OK after it catches up.