diff --git a/device/camera/camera.h b/device/camera/camera.h
index d2dd5bb..a10faeb 100644
--- a/device/camera/camera.h
+++ b/device/camera/camera.h
@@ -94,5 +94,5 @@ int camera_configure_pipeline(camera_t *camera, buffer_list_t *camera_capture);
 buffer_list_t *camera_configure_isp(camera_t *camera, buffer_list_t *src_capture);
 buffer_list_t *camera_configure_decoder(camera_t *camera, buffer_list_t *src_capture);
 buffer_list_t *camera_configure_rescaller(camera_t *camera, buffer_list_t *src_capture, const char *name, unsigned target_height, unsigned formats[]);
-int camera_configure_output(camera_t *camera, const char *name, unsigned target_height, unsigned formats[], link_callbacks_t callbacks, device_t **device);
-bool camera_get_scaled_resolution(camera_t *camera, camera_output_options_t *options, buffer_format_t *format);
+int camera_configure_output(camera_t *camera, buffer_list_t *camera_capture, const char *name, camera_output_options_t *options, unsigned formats[], link_callbacks_t callbacks, device_t **device);
+bool camera_get_scaled_resolution(buffer_format_t capture_format, camera_output_options_t *options, buffer_format_t *format);
diff --git a/device/camera/camera_input.c b/device/camera/camera_input.c
index 99a5b8c..3859e16 100644
--- a/device/camera/camera_input.c
+++ b/device/camera/camera_input.c
@@ -80,11 +80,11 @@ static int camera_configure_input_libcamera(camera_t *camera)
 
   bool found = false;
 
-  found = camera_get_scaled_resolution(camera, &camera->options.snapshot, &capture_fmt);
+  found = camera_get_scaled_resolution(capture_fmt, &camera->options.snapshot, &capture_fmt);
   if (!found)
-    found = camera_get_scaled_resolution(camera, &camera->options.stream, &capture_fmt);
+    found = camera_get_scaled_resolution(capture_fmt, &camera->options.stream, &capture_fmt);
   if (!found)
-    found = camera_get_scaled_resolution(camera, &camera->options.video, &capture_fmt);
+    found = camera_get_scaled_resolution(capture_fmt, &camera->options.video, &capture_fmt);
 
   buffer_list_t *camera_capture = device_open_buffer_list(camera->camera, true, capture_fmt, true);
   if (!camera_capture) {
diff --git a/device/camera/camera_output.c b/device/camera/camera_output.c
index 02f8a7e..255a327 100644
--- a/device/camera/camera_output.c
+++ b/device/camera/camera_output.c
@@ -74,20 +74,58 @@ static unsigned rescalled_formats[] =
   0
 };
 
-int camera_configure_output(camera_t *camera, const char *name, unsigned target_height, unsigned formats[], link_callbacks_t callbacks, device_t **device)
+int camera_configure_output(camera_t *camera, buffer_list_t *camera_capture, const char *name, camera_output_options_t *options, unsigned formats[], link_callbacks_t callbacks, device_t **device)
 {
-  buffer_list_t *src_capture = camera_find_capture2(camera, target_height, formats);
+  buffer_format_t selected_format = {0};
+
+  if (!camera_get_scaled_resolution(camera_capture->fmt, options, &selected_format)) {
+    return 0;
+  }
+
+  // find an existing format
+  buffer_list_t *src_capture = camera_find_capture2(camera, selected_format.height, formats);
   if (src_capture) {
     camera_capture_add_callbacks(camera, src_capture, callbacks);
     return 0;
   }
 
-  src_capture = camera_find_capture2(camera, target_height, rescalled_formats);
+  // Try to find exact output
+  src_capture = camera_find_capture2(camera, selected_format.height, rescalled_formats);
+
+  // Try to re-scale output
   if (!src_capture) {
-    // Try to find re-scallabe output
-    src_capture = camera_find_capture2(camera, 0, rescalled_formats);
-    if (src_capture) {
-      src_capture = camera_configure_rescaller(camera, src_capture, name, target_height, rescalled_formats);
+    buffer_list_t *other_capture = camera_find_capture2(camera, 0, rescalled_formats);
+
+    if (other_capture) {
+      src_capture = camera_configure_rescaller(camera, other_capture, name, selected_format.height, rescalled_formats);
+    }
+  }
+
+  // Try to decode output
+  if (!src_capture) {
+    buffer_list_t *decoded_capture = NULL;
+
+    switch (camera_capture->fmt.format) {
+    case V4L2_PIX_FMT_SRGGB10P:
+    case V4L2_PIX_FMT_SGRBG10P:
+    case V4L2_PIX_FMT_SBGGR10P:
+    case V4L2_PIX_FMT_SRGGB10:
+    case V4L2_PIX_FMT_SGRBG10:
+      decoded_capture = camera_configure_isp(camera, camera_capture);
+      break;
+
+    case V4L2_PIX_FMT_MJPEG:
+    case V4L2_PIX_FMT_H264:
+      decoded_capture = camera_configure_decoder(camera, camera_capture);
+      break;
+    }
+
+    // Now, do we have exact match
+    src_capture = camera_find_capture2(camera, selected_format.height, rescalled_formats);
+
+    // Otherwise rescalle decoded output
+    if (!src_capture && decoded_capture) {
+      src_capture = camera_configure_rescaller(camera, decoded_capture, name, selected_format.height, rescalled_formats);
     }
   }
 
diff --git a/device/camera/camera_pipeline.c b/device/camera/camera_pipeline.c
index 8244c0f..1ba0e29 100644
--- a/device/camera/camera_pipeline.c
+++ b/device/camera/camera_pipeline.c
@@ -42,39 +42,22 @@ static link_callbacks_t video_callbacks =
   .buf_lock = &video_lock
 };
 
-int camera_configure_pipeline(camera_t *camera, buffer_list_t *capture)
+int camera_configure_pipeline(camera_t *camera, buffer_list_t *camera_capture)
 {
-  if (capture) {
-    capture->do_timestamps = true;
+  camera_capture->do_timestamps = true;
 
-    switch (capture->fmt.format) {
-    case V4L2_PIX_FMT_SRGGB10P:
-    case V4L2_PIX_FMT_SGRBG10P:
-    case V4L2_PIX_FMT_SBGGR10P:
-    case V4L2_PIX_FMT_SRGGB10:
-    case V4L2_PIX_FMT_SGRBG10:
-      camera_configure_isp(camera, capture);
-      break;
-
-    case V4L2_PIX_FMT_MJPEG:
-    case V4L2_PIX_FMT_H264:
-      camera_configure_decoder(camera, capture);
-      break;
-    }
-  }
-
-  if (!camera->options.snapshot.disabled && camera_configure_output(
-    camera, "SNAPSHOT", camera->options.snapshot.height, snapshot_formats, snapshot_callbacks, &camera->codec_snapshot) < 0) {
+  if (camera_configure_output(camera, camera_capture, "SNAPSHOT", &camera->options.snapshot,
+    snapshot_formats, snapshot_callbacks, &camera->codec_snapshot) < 0) {
     return -1;
   }
 
-  if (!camera->options.stream.disabled && camera_configure_output(
-    camera, "STREAM", camera->options.stream.height, snapshot_formats, stream_callbacks, &camera->codec_stream) < 0) {
+  if (camera_configure_output(camera, camera_capture, "STREAM", &camera->options.stream,
+    snapshot_formats, stream_callbacks, &camera->codec_stream) < 0) {
     return -1;
   }
 
-  if (!camera->options.video.disabled && camera_configure_output(
-    camera, "VIDEO", camera->options.video.height, video_formats, video_callbacks, &camera->codec_video) < 0) {
+  if (camera_configure_output(camera, camera_capture, "VIDEO", &camera->options.video,
+    video_formats, video_callbacks, &camera->codec_video) < 0) {
     return -1;
   }
 
diff --git a/device/camera/camera_rescaller.c b/device/camera/camera_rescaller.c
index 59d7523..49f8013 100644
--- a/device/camera/camera_rescaller.c
+++ b/device/camera/camera_rescaller.c
@@ -18,7 +18,7 @@ static unsigned camera_rescaller_align_size(unsigned size, unsigned align_size)
   return (size + align_size - 1) / align_size * align_size;
 }
 
-static void camera_get_scaled_resolution2(unsigned in_width, unsigned in_height, unsigned proposed_height, unsigned *target_width, unsigned *target_height)
+void camera_get_scaled_resolution2(unsigned in_width, unsigned in_height, unsigned proposed_height, unsigned *target_width, unsigned *target_height)
 {
   proposed_height = MIN(proposed_height, in_height);
 
@@ -35,19 +35,19 @@ static void camera_get_scaled_resolution2(unsigned in_width, unsigned in_height,
   }
 }
 
-bool camera_get_scaled_resolution(camera_t *camera, camera_output_options_t *options, buffer_format_t *format)
+bool camera_get_scaled_resolution(buffer_format_t capture_format, camera_output_options_t *options, buffer_format_t *format)
 {
   if (options->disabled)
     return false;
 
   camera_get_scaled_resolution2(
-    camera->options.width,
-    camera->options.height,
+    capture_format.width,
+    capture_format.height,
     options->height,
     &format->width,
     &format->height
   );
-  return true;
+  return format->height > 0;
 }
 
 buffer_list_t *camera_try_rescaller(camera_t *camera, buffer_list_t *src_capture, const char *name, unsigned target_height, unsigned target_format)