planning: adjust slowdown profile parameters and allow em planner to return slowdown trajectory in case of error.

Planning: fixed a issue in reference line smoother. The lateral direction is the direction the adc drives

* [perception] remove OpenCV dependency in CNNSegmentation

* [perception] modify linkstatic back to dynamic link

* [perception] delete commanded lines in CNNSegmentation

* added implementation of sending default routing request

* Updated routing pin image to the power of two

* cleanup dreamview dist