[Feature Request] Add support for compressed images

When looking at the NuScenes sample data, the final Images in the bag files are compressed. This makes the transfer of the images over the wire much smaller and speeds up streaming.

Add support for on-the-fly compression of images during bag file generation or when streaming images via websockets.

Trace the bag file generation path and the image streaming path used via websockets, using the NuScenes sample data as the reference case. Determine where images are finalized before transfer and how compressed images are represented in the generated bags or stream. Done means images can be compressed on the fly in the requested path and streaming transfers are smaller without breaking image consumption.

Written by the indexing model from the issue text.