In pg_dump, include pg_catalog and extension ACLs, if changed

Now that all of the infrastructure exists, add in the ability to
dump out the ACLs of the objects inside of pg_catalog or the ACLs
for objects which are members of extensions, but only if they have
been changed from their original values.

The original values are tracked in pg_init_privs.  When pg_dump'ing
9.6-and-above databases, we will dump out the ACLs for all objects
in pg_catalog and the ACLs for all extension members, where the ACL
has been changed from the original value which was set during either
initdb or CREATE EXTENSION.

This should not change dumps against pre-9.6 databases.

Reviews by Alexander Korotkov, Jose Luis Tallon