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The problem is that the OpenCV framework doesn't build support for libjpeg. To fix this problem I had to build the framework myself (using these instructions) and modifying the root CMakeLists.txt with the following (about line 126):
OCV_OPTION(WITH_JPEG "Include JPEG support" ON IF IOS)
After that I still had to manually include libjpeg.a into my Xcode project, but imencode works again.