[SPARK-3592] [SQL] [PySpark] support applySchema to RDD of Row

Fix the issue when applySchema() to an RDD of Row.

Also add type mapping for BinaryType.

Author: Davies Liu <davies.liu@gmail.com>

Closes #2448 from davies/row and squashes the following commits:

dd220cf [Davies Liu] fix test
3f3f188 [Davies Liu] add more test
f559746 [Davies Liu] add tests, fix serialization
9688fd2 [Davies Liu] support applySchema to RDD of Row