Tools: Migrate to cyber file util. (#6803)

 
Routing: Migrate to cyber file util. (#6801)

Fixes issue [6783](https://github.com/ApolloAuto/apollo/issues/6783)

perception: address an issue with camera detection module, making it to create output folder automatically based on config file (#6782)

 
perception: implement camera perception visualizer and set up stand-alone lane detection module (#6731)

* perception: set up stand-alone lane detection module

perception: make motion sevice component working

perception: add visualization tool for camera obstacles

perception: add topic outputs for camera perceptions of obstacles and lanes, and clean code