Improve performance of sp_describe_undeclared_parameters (#1905)

sp_describe_undeclared_parameters is slow. The issue is reported here: #1317.

Initially, we used to create a query in C for every parameter passed as an argument to
sp_describe_undeclared_parameters and then execute it. This was taking huge amount of time as it used JOINS among
multiple views like sys.objects, sys.columns, sys.types T. In this commit, we have replaced the use of such views as
much as possible with pg catalogs. This aids to the improvement in performance.

Task: BABEL-3705
Signed-off-by: Shameem Ahmed <[email protected]>