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What formats are available for live streaming?

I've been messing around trying to create a "channel" for my Roku to allow me to view my cameras from my TV in the living room.

I've had moderate success, using VLC on the server machine to transcode /dev/video0 to HLS. The problem is that I can't switch cameras from the roku, and also everything is in a 10 second delay because of the transcode.

Are MJPEG or RTSP the only formats that I can stream out of the server with? Roku doesn't support either of them, it appears. If I could stream natively from the server to the roku, i could easily switch streams. Otherwise, I would need 4-5 instances of VLC running on the server. (One instance is currently consuming 39% cpu...)

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