libcamera: formats: Merge V4L2 single and multi formats

To each libcamera PixelFormat two V4L2 formats are associated, the
'single' and 'multi' format variants.

The two versions list plane contiguous and non-contiguous format
variants, and an optional argument to V4L2PixelFormat::fromPixelFormat()
was used to select which one to pick.

In order to prepare to remove V4L2PixelFormat::fromPixelFormat(), and
considering that no caller in the codebase uses the non-contiguous
format variant, merge the two formats vectors in a single one and
default the selection to the first available one, which is functionally
equivalent to what is currently implemented.

Signed-off-by: Jacopo Mondi <jacopo@jmondi.org>
Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Tested-by: Paul Elder <paul.elder@ideasonboard.com>

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