feat: 迁移视频采集到 v4l2r，支持多平面设备并完善构建头文件

- 将 V4L2 采集依赖从 v4l 切换到 v4l2r

- 新增基于 v4l2r 的 mmap 采集实现，优先使用 VIDEO_CAPTURE_MPLANE

- 更新像素格式转换与设备枚举逻辑，探测阶段改为只读打开

- 增加采集错误日志节流，避免 dqbuf EINVAL 日志风暴

- 交叉编译镜像安装更新的 Linux 内核头文件供 bindgen 使用

build/cross/Dockerfile.arm64

@@ -3,9 +3,13 @@
 
 FROM debian:11
 
+# Linux headers used by v4l2r bindgen
+ARG LINUX_HEADERS_VERSION=6.6
+ARG LINUX_HEADERS_SHA256=
+
 # Set Rustup mirrors (Aliyun)
-ENV RUSTUP_UPDATE_ROOT=https://mirrors.aliyun.com/rustup/rustup \
-    RUSTUP_DIST_SERVER=https://mirrors.aliyun.com/rustup
+#ENV RUSTUP_UPDATE_ROOT=https://mirrors.aliyun.com/rustup/rustup \
+#    RUSTUP_DIST_SERVER=https://mirrors.aliyun.com/rustup
 
 # Install Rust toolchain
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -31,6 +35,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     meson \
     ninja-build \
     wget \
+    xz-utils \
     file \
     gcc-aarch64-linux-gnu \
     g++-aarch64-linux-gnu \
@@ -47,10 +52,22 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libv4l-dev:arm64 \
     libudev-dev:arm64 \
     zlib1g-dev:arm64 \
+    linux-libc-dev:arm64 \
     # Note: libjpeg-turbo, libyuv, libvpx, libx264, libx265, libopus are built from source below for static linking
     libdrm-dev:arm64 \
     && rm -rf /var/lib/apt/lists/*
 
+# Install newer V4L2 headers for v4l2r bindgen
+RUN mkdir -p /opt/v4l2-headers \
+    && wget -q https://cdn.kernel.org/pub/linux/kernel/v6.x/linux-${LINUX_HEADERS_VERSION}.tar.xz -O /tmp/linux-headers.tar.xz \
+    && if [ -n "$LINUX_HEADERS_SHA256" ]; then echo "$LINUX_HEADERS_SHA256  /tmp/linux-headers.tar.xz" | sha256sum -c -; fi \
+    && tar -xf /tmp/linux-headers.tar.xz -C /tmp \
+    && cd /tmp/linux-${LINUX_HEADERS_VERSION} \
+    && make ARCH=arm64 headers_install INSTALL_HDR_PATH=/opt/v4l2-headers \
+    && rm -rf /tmp/linux-${LINUX_HEADERS_VERSION} /tmp/linux-headers.tar.xz
+
+ENV V4L2R_VIDEODEV2_H_PATH=/opt/v4l2-headers/include
+
 # Build static libjpeg-turbo from source (cross-compile for ARM64)
 RUN git clone --depth 1 https://github.com/libjpeg-turbo/libjpeg-turbo /tmp/libjpeg-turbo \
     && cd /tmp/libjpeg-turbo \