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I believe web_video_server supports compressed images: https://github.com/RobotWebTools/web_video_server/blob/develop/src/ros_compressed_streamer.cpp

I believe web_video_server ~~supports~~ does support compressed ~~images:~~ images. Source code for the class here: https://github.com/RobotWebTools/web_video_server/blob/develop/src/ros_compressed_streamer.cpp

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