[SPARK-4124] [MLlib] [PySpark] simplify serialization in MLlib Python API

Create several helper functions to call MLlib Java API, convert the arguments to Java type and convert return value to Python object automatically, this simplify serialization in MLlib Python API very much.

After this, the MLlib Python API does not need to deal with serialization details anymore, it's easier to add new API.

cc @mengxr
We used to have `_common.py`, which was for the same purpose. Shall we put underscore to the file name?