Docker: update {cyber,dev}.x86_64.stable images based on CUDA-11.1 to support Nvidia GPUs of Ampere architecture

Please note if you run `./apollo.sh build --config=cpu` on a GPU capable
machine, LD_LIBRARY_PATH may be wrong. We will revisit this in later PRs.

* Perception: resume traffic light module

1) cuda-11.1-x86_64
2) cuda-10.2-aarch64

1) libtorch-1.6.0 was built with magma support
2) Fix symlink issues of mkl and tbb PYPI packages

2) Bugfix for upstream mkl==2021.1.1 installer

Please note that binary Magma release should be aligned with SUPPORTED_NVIDIA_SMS
from installer_base.sh, once SUPPORTED_NVIDIA_SMS changed, please
rebuild Magma also.

3) Docker::Installers: libtorch-1.6.0-1 for x86_64.stable with magma support

* Perception: change darkscnn caffe model to tensorrt & add new obstacle module

* Perception: code style

* Perception: add smoke model transformer

* Perception: rename singlestage

rebased on master HEAD

* Perception: add camera obstacle detection to fusion

* Perception: modify default dag to use CNNSeg model

* Dreamview:loop routing add threshold at be,add no loop logic

* DV:modify the wrong indent and add build fe

Co-authored-by: Nlishuanghua <17302618@qq.com>

fix a bug that affects nms

* drivers: lidar refactor lidar/dirver to add factory pattern

* Lidar Driver: fix deconstruc bug

* Lidar Driver: fix some format

* Lidar Driver: fix some format

Lidar Driver: remove explict

Lidar Drivers: buildifer BUILD

* Lidar Driver: init node_

* Lidar Driver: modify lidar conf
Co-authored-by: Nliuxu <liuxu20@baidu.com>

* Perception: change darkscnn caffe model to tensorrt & add new obstacle module

* Perception: code style