Support configurable algo pipeline topo by yaml

Is your feature request related to a problem? Please describe.

Config file or config settings from API like:

- transformer
- pre-algo:
  - 融合
    enable:
    algo: xxxxxx
  - 平滑
  - 补全
- specific-aglo:
  逆向超车:
    enable:
    algo: xxxxxx
  碰撞预警：
    enable:
    algo: xxxxxx
- post-algo

Describe the solution you'd like

1. if config file exist, use config file settings
2. else use default pipeline in code

Describe alternatives you've considered

N/A

Additional context

N/A