Migrate the `cross join -> inner join optimization` from the planner to the optimizer

[xudong963]

Is your feature request related to a problem or challenge? Please describe what you are trying to do.
Migrate the cross join -> inner join optimization from the planner to the optimizer, and make it as an optimization rule.

Related code: https://github.com/apache/arrow-datafusion/blob/master/datafusion/sql/src/planner.rs#L770

Additional context
cross join -> inner join optimization: #1566

[Veeupup]

hi, @xudong963 I'm interested in trying this, may I try this?

[sadilet]

@Veeupup Hey, how is it coming along? @xudong963 could I also try to fix this issue?

[Veeupup]

sorry, I have been busy with some other stuff these times and forgot it...
@sadilet feel free to take it!

[xudong963]

@sadilet Thanks!

[xudong963]

@sadilet Hi, #3482 there is a related PR.