Automatic merge from submit-queue (batch tested with PRs 54533, 54777, 54763, 54806, 54703). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.

Create kubectl's own instance of Scheme and Registry

Create kubectl's own instance of Registry and Scheme.
Switch most command that doesn't depend on internal types to use kubectl's own scheme and register.

There are some hack of registering the internal types in some of unit test now, they should be gone after switch to the external type.

Switch kubectl's factory code to use kubectl's scheme will create a lot of ripples.
I don't want make this PR a super giant PR, so I will do it in a followup PR.

Partially addressed #48564.

Copy the summary from https://github.com/kubernetes/kubernetes/pull/54533#issuecomment-340522302:
- creates pkg/kubectl/scheme (install.go and scheme.go) with
deps on properly vendored k8s.io packages.
- deletes about 80% percent of dependence on pkg/api/legacyscheme
- replaces direct dependence from pkg/kubectl on
pkg/apis/rbac
to a vendor style dependence on
k8s.io/api/rbac
and removes dependencies on rbac paths containing internalversion
- replaces almost 50% of direct dependence on pkg/api with (properly vendored)
k8s.io/api/core/v1
- deletes all of dependence on pkg/apis/policy and k8s.io/api/policy/v1beta1

```release-note
NONE
```

/assign @monopole @apelisse
cc: @pwittrock