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The provided libraries do not use Qt. They only use standard C routines and thread support. Thus it is possible to develop your server on top of these libraries. Your code will only fall under the license terms of pvbrowser. You need no external software. The functions in the libraries are described in the reference manual which is created form sourcecode using doxygen. In principle most functions from the library will simply write a command to the browser.
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Typical functions offer an interface to your programming language and generate the appropriate commands for pvbrowser. Thus you need not to know the strings pvbrowser is operating on.