for non-html output, let sphinx pick the best format (cherry-pick cha… #14788
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…nge from pr-14683)
PR Summary
Changes taken from PR #14683 done by @anntzer
The goal is not to specify the image format for every sphinx builder allowing the usage of third-party builders (like confluence)
Now, with this PR I would really like, if possible, to count on those changes for python 2 too.
PR Checklist