Not directly. The easiest way I found to do it is by converting the stream to an mjpeg stream using ffmpeg and ffserver. You then access the mjpeg stream using http. If you scroll up to recent posts by me, I asked the same question. You use TYPES.CAMERA and filter function() to return the url to your mjpeg stream(s).
I switched to this because accessing my 20+ cameras through home assistant was causing out of memory issues with HA along with CPU issues and sync issues. Accessing the cameras directly completely eliminates all issues I was having.