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The PreTeXt Guide

Subsection 4.14.4 Image Formats

Best Practice 4.14.4.6. Preferred Image Formats.

The best formats for images, in order, are:
SVG
Vector graphics format ideal for HTML output formats. Scalable and compact. Converts to other formats, such as PDF.
PDF
Vector graphics format ideal for print and PDF output formats. Good tools exist to convert back-and-forth between SVG and PDF.
PNG
Lossless and compressible format for raster images. May be used for both HTML and PDF outputs.
JPEG
Compressed lossy format which works well for photographs. May be used for both HTML and PDF outputs. PNG should be preferred when there is a choice, except in the case of a photograph. Converting between these formats is unlikely to be an improvement.