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OpenCV: opencv/opencv#24486
OpenCV Extra: opencv/opencv_extra#1119
#3568 from daizhirui:4.x
#3569 from cudawarped:videoio_ffmpeg_add_stream_encapsulation
#3572 from hanliutong:clean-up
#3576 from mshabunin:enable-riscv-ci
#3579 from mshabunin:fix-riscv-workflow
#3584 from asmorkalov:as/build_fixes
Previous "Merge 4.x": #3578