diff --git a/.vscode/settings.json b/.vscode/settings.json
index a4e4497..0d0d3b3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -65,6 +65,9 @@
     "thread": "cpp",
     "cinttypes": "cpp",
     "typeinfo": "cpp",
-    "fourcc.h": "c"
+    "fourcc.h": "c",
+    "device.h": "c",
+    "log.h": "c",
+    "buffer_list.h": "c"
   }
 }
diff --git a/device/camera/camera.c b/device/camera/camera.c
index 9e6288a..c01e83c 100644
--- a/device/camera/camera.c
+++ b/device/camera/camera.c
@@ -6,10 +6,25 @@
 #include "opts/log.h"
 #include "opts/fourcc.h"
 
-void camera_init(camera_t *camera)
+camera_t *camera_open(camera_options_t *options)
 {
-  memset(camera, 0, sizeof(*camera));
+  camera_t *camera = calloc(1, sizeof(camera_t));
   camera->name = "CAMERA";
+  camera->options = *options;
+
+  if (camera_configure_input(camera) < 0) {
+    goto error;
+  }
+
+  if (camera_set_params(camera) < 0) {
+    goto error;
+  }
+
+  return camera;
+
+error:
+  camera_close(camera);
+  return NULL;
 }
 
 void camera_close(camera_t *camera)
@@ -34,38 +49,32 @@ void camera_close(camera_t *camera)
   free(camera);
 }
 
-camera_t *camera_open(camera_options_t *options)
+link_t *camera_ensure_capture(camera_t *camera, buffer_list_t *capture)
 {
-  camera_t *camera = calloc(1, sizeof(camera_t));
-  camera->name = "CAMERA";
-  camera->options = *options;
-
-  switch (camera->options.type) {
-  case CAMERA_V4L2:
-    if (camera_configure_v4l2(camera) < 0) {
-      goto error;
+  for (int i = 0; i < camera->nlinks; i++) {
+    if (camera->links[i].source == capture) {
+      return &camera->links[i];
     }
-    break;
-
-  case CAMERA_LIBCAMERA:
-    if (camera_configure_libcamera(camera) < 0) {
-      goto error;
-    }
-    break;
-
-  default:
-    LOG_ERROR(camera, "Unsupported camera type");
   }
 
-  if (camera_set_params(camera) < 0) {
-    goto error;
-  }
+  link_t *link = &camera->links[camera->nlinks++];
+  link->source = capture;
+  return link;
+}
 
-  return camera;
+void camera_capture_add_output(camera_t *camera, buffer_list_t *capture, buffer_list_t *output)
+{
+  link_t *link = camera_ensure_capture(camera, capture);
 
-error:
-  camera_close(camera);
-  return NULL;
+  int nsinks;
+  for (nsinks = 0; link->sinks[nsinks]; nsinks++);
+  link->sinks[nsinks] = output;
+}
+
+void camera_capture_set_callbacks(camera_t *camera, buffer_list_t *capture, link_callbacks_t callbacks)
+{
+  link_t *link = camera_ensure_capture(camera, capture);
+  link->callbacks = callbacks;
 }
 
 int camera_set_params(camera_t *camera)
@@ -76,6 +85,7 @@ int camera_set_params(camera_t *camera)
 
   // Set some defaults
   for (int i = 0; i < 2; i++) {
+    device_set_option_list(camera->legacy_isp[2], camera->options.isp.options);
     device_set_option_string(camera->codec_jpeg[i], "compression_quality", "80");
     device_set_option_string(camera->codec_h264[i], "video_bitrate_mode", "0");
     device_set_option_string(camera->codec_h264[i], "video_bitrate", "5000000");
@@ -88,16 +98,6 @@ int camera_set_params(camera_t *camera)
     device_set_option_list(camera->codec_jpeg[i], camera->options.jpeg.options);
     device_set_option_list(camera->codec_h264[i], camera->options.h264.options);
   }
-
-  // DEVICE_SET_OPTION(camera->camera, EXPOSURE, 2684);
-  // DEVICE_SET_OPTION(camera->camera, ANALOGUE_GAIN, 938);
-  // DEVICE_SET_OPTION(camera->camera, DIGITAL_GAIN, 512);
-  // DEVICE_SET_OPTION(camera->camera, VBLANK, 1636);
-  // DEVICE_SET_OPTION(camera->camera, HBLANK, 6906);
-
-  // DEVICE_SET_OPTION(camera->isp_srgb, RED_BALANCE, 2120);
-  // DEVICE_SET_OPTION(camera->isp_srgb, BLUE_BALANCE, 1472);
-  // DEVICE_SET_OPTION(camera->isp_srgb, DIGITAL_GAIN, 1007);
   return 0;
 }
 
@@ -105,4 +105,4 @@ int camera_run(camera_t *camera)
 {
   bool running = false;
   return links_loop(camera->links, &running);
-}
\ No newline at end of file
+}
diff --git a/device/camera/camera.h b/device/camera/camera.h
index cad82a7..1446b0c 100644
--- a/device/camera/camera.h
+++ b/device/camera/camera.h
@@ -70,10 +70,10 @@ link_t *camera_ensure_capture(camera_t *camera, buffer_list_t *capture);
 void camera_capture_add_output(camera_t *camera, buffer_list_t *capture, buffer_list_t *output);
 void camera_capture_set_callbacks(camera_t *camera, buffer_list_t *capture, link_callbacks_t callbacks);
 
-int camera_configure_output(camera_t *camera, buffer_list_t *src_capture, int res);
+int camera_configure_input(camera_t *camera);
 int camera_configure_decoder(camera_t *camera, buffer_list_t *src_capture);
+int camera_configure_output_rescaler(camera_t *camera, buffer_list_t *src_capture, float high_div, float low_div);
+int camera_configure_output(camera_t *camera, buffer_list_t *src_capture, int res);
 
-int camera_configure_v4l2(camera_t *camera);
-int camera_configure_libcamera(camera_t *camera);
 int camera_configure_isp(camera_t *camera, buffer_list_t *src, float high_div, float low_div);
 int camera_configure_legacy_isp(camera_t *camera, buffer_list_t *src, float div, int res);
diff --git a/device/camera/camera_decoder.c b/device/camera/camera_decoder.c
index f75e7af..5721bd6 100644
--- a/device/camera/camera_decoder.c
+++ b/device/camera/camera_decoder.c
@@ -22,20 +22,6 @@ int camera_configure_decoder(camera_t *camera, buffer_list_t *src_capture)
 
   camera_capture_add_output(camera, src_capture, decoder_output);
 
-  if (camera_configure_output(camera, decoder_capture, 0) < 0) {
-    return -1;
-  }
-
-  if (camera->options.low_res_factor > 1) {
-    float div = camera->options.low_res_factor / camera->options.high_res_factor;
-
-    if (camera_configure_legacy_isp(camera, decoder_capture, div, 1) < 0) {
-      return -1;
-    }
-  }
-
-  if (device_set_decoder_start(camera->decoder, true) < 0) {
-    return -1;
-  }
-  return 0;
+  return camera_configure_output_rescaler(camera, decoder_capture,
+    camera->options.high_res_factor, camera->options.low_res_factor);
 }
diff --git a/device/camera/camera_input.c b/device/camera/camera_input.c
new file mode 100644
index 0000000..1d21d7f
--- /dev/null
+++ b/device/camera/camera_input.c
@@ -0,0 +1,104 @@
+#include "camera.h"
+
+#include "device/buffer.h"
+#include "device/buffer_list.h"
+#include "device/device.h"
+#include "device/links.h"
+#include "opts/log.h"
+#include "opts/fourcc.h"
+
+static int camera_configure_input_v4l2(camera_t *camera)
+{
+  camera->camera = device_v4l2_open(camera->name, camera->options.path);
+  if (!camera->camera) {
+    return -1;
+  }
+
+  camera->camera->opts.allow_dma = camera->options.allow_dma;
+
+  if (strstr(camera->camera->bus_info, "usb")) {
+    LOG_INFO(camera, "Disabling DMA since device uses USB (which is likely not working properly).");
+    camera->camera->opts.allow_dma = false;
+  }
+
+  buffer_list_t *camera_capture = device_open_buffer_list(camera->camera, true, camera->options.width, camera->options.height, camera->options.format, 0, camera->options.nbufs, true);
+  if (!camera_capture) {
+    return -1;
+  }
+  camera_capture->do_timestamps = true;
+
+  if (camera->options.fps > 0) {
+    camera_capture->fmt.interval_us = 1000 * 1000 / camera->options.fps;
+  }
+
+  switch (camera_capture->fmt.format) {
+  case V4L2_PIX_FMT_YUYV:
+  case V4L2_PIX_FMT_YVYU:
+  case V4L2_PIX_FMT_VYUY:
+  case V4L2_PIX_FMT_UYVY:
+  case V4L2_PIX_FMT_YUV420:
+  case V4L2_PIX_FMT_RGB565:
+  case V4L2_PIX_FMT_RGB24:
+    if (camera->options.high_res_factor > 1) {
+      // Use ISP, as there are two resolutions
+      return camera_configure_isp(camera, camera_capture,
+        camera->options.high_res_factor, camera->options.low_res_factor);
+    } else {
+      // Use direct approach, as there's likely low frequently used low resolution
+      return camera_configure_output_rescaler(camera, camera_capture,
+        camera->options.high_res_factor, camera->options.low_res_factor);
+    }
+
+  case V4L2_PIX_FMT_MJPEG:
+  case V4L2_PIX_FMT_H264:
+    return camera_configure_decoder(camera, camera_capture);
+
+  case V4L2_PIX_FMT_SRGGB10P:
+    return camera_configure_isp(camera, camera_capture,
+      camera->options.high_res_factor, camera->options.low_res_factor);
+
+  default:
+    LOG_INFO(camera, "Unsupported camera format=%s",
+      fourcc_to_string(camera_capture->fmt.format).buf);
+    return -1;
+  }
+}
+
+static int camera_configure_input_libcamera(camera_t *camera)
+{
+  camera->camera = device_libcamera_open(camera->name, camera->options.path);
+  if (!camera->camera) {
+    return -1;
+  }
+
+  camera->camera->opts.allow_dma = camera->options.allow_dma;
+
+  buffer_list_t *camera_capture = device_open_buffer_list(
+    camera->camera, true, camera->options.width / camera->options.high_res_factor, camera->options.height / camera->options.high_res_factor, camera->options.format, 0, camera->options.nbufs, true);
+  if (!camera_capture) {
+    return -1;
+  }
+  camera_capture->do_timestamps = true;
+
+  if (camera->options.fps > 0) {
+    camera_capture->fmt.interval_us = 1000 * 1000 / camera->options.fps;
+  }
+
+  return camera_configure_output_rescaler(camera, camera_capture,
+    1.0, camera->options.low_res_factor / camera->options.high_res_factor);
+}
+
+int camera_configure_input(camera_t *camera)
+{
+  switch (camera->options.type) {
+  case CAMERA_V4L2:
+    return camera_configure_input_v4l2(camera);
+
+  case CAMERA_LIBCAMERA:
+    return camera_configure_input_libcamera(camera);
+
+  default:
+    LOG_INFO(camera, "Unsupported camera type");
+    return -1;
+  }
+}
diff --git a/device/camera/camera_legacy_isp.c b/device/camera/camera_legacy_isp.c
index aa02b55..ca1316a 100644
--- a/device/camera/camera_legacy_isp.c
+++ b/device/camera/camera_legacy_isp.c
@@ -9,9 +9,14 @@
 #include "device/buffer_list.h"
 #include "http/http.h"
 
+static const char *isp_names[2] = {
+  "ISP",
+  "ISP-LOW"
+};
+
 int camera_configure_legacy_isp(camera_t *camera, buffer_list_t *src_capture, float div, int res)
 {
-  camera->legacy_isp[res] = device_v4l2_open("ISP", "/dev/video12");
+  camera->legacy_isp[res] = device_v4l2_open(isp_names[res], "/dev/video12");
 
   buffer_list_t *isp_output = device_open_buffer_list_output(
     camera->legacy_isp[res], src_capture);
diff --git a/device/camera/camera_libcamera.c b/device/camera/camera_libcamera.c
deleted file mode 100644
index 47b63a0..0000000
--- a/device/camera/camera_libcamera.c
+++ /dev/null
@@ -1,46 +0,0 @@
-#include "camera.h"
-
-#include "device/buffer.h"
-#include "device/buffer_list.h"
-#include "device/device.h"
-#include "device/links.h"
-#include "opts/log.h"
-#include "opts/fourcc.h"
-
-int camera_configure_libcamera(camera_t *camera)
-{
-  camera->camera = device_libcamera_open(camera->name, camera->options.path);
-  if (!camera->camera) {
-    goto error;
-  }
-
-  camera->camera->opts.allow_dma = camera->options.allow_dma;
-
-  buffer_list_t *camera_capture = device_open_buffer_list(
-    camera->camera, true, camera->options.width / camera->options.high_res_factor, camera->options.height / camera->options.high_res_factor, camera->options.format, 0, camera->options.nbufs, true);
-  if (!camera_capture) {
-    goto error;
-  }
-  camera_capture->do_timestamps = true;
-
-  if (camera->options.fps > 0) {
-    camera_capture->fmt.interval_us = 1000 * 1000 / camera->options.fps;
-  }
-
-  if (camera_configure_output(camera, camera_capture, 0) < 0) {
-    goto error;
-  }
-
-  if (camera->options.low_res_factor > 1) {
-    float div = camera->options.low_res_factor / camera->options.high_res_factor;
-
-    if (camera_configure_legacy_isp(camera, camera_capture, div, 1) < 0) {
-      return -1;
-    }
-  }
-
-  return 0;
-
-error:
-  return -1;
-}
\ No newline at end of file
diff --git a/device/camera/camera_links.c b/device/camera/camera_links.c
deleted file mode 100644
index 7e2b900..0000000
--- a/device/camera/camera_links.c
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "camera.h"
-
-#include "device/buffer.h"
-#include "device/buffer_list.h"
-#include "device/device.h"
-#include "device/links.h"
-#include "opts/log.h"
-#include "opts/fourcc.h"
-#include "device/buffer_list.h"
-#include "http/http.h"
-
-link_t *camera_ensure_capture(camera_t *camera, buffer_list_t *capture)
-{
-  for (int i = 0; i < camera->nlinks; i++) {
-    if (camera->links[i].source == capture) {
-      return &camera->links[i];
-    }
-  }
-
-  link_t *link = &camera->links[camera->nlinks++];
-  link->source = capture;
-  return link;
-}
-
-void camera_capture_add_output(camera_t *camera, buffer_list_t *capture, buffer_list_t *output)
-{
-  link_t *link = camera_ensure_capture(camera, capture);
-
-  int nsinks;
-  for (nsinks = 0; link->sinks[nsinks]; nsinks++);
-  link->sinks[nsinks] = output;
-}
-
-void camera_capture_set_callbacks(camera_t *camera, buffer_list_t *capture, link_callbacks_t callbacks)
-{
-  link_t *link = camera_ensure_capture(camera, capture);
-  link->callbacks = callbacks;
-}
diff --git a/device/camera/camera_output.c b/device/camera/camera_output.c
index 1f3dd01..4e3d2dc 100644
--- a/device/camera/camera_output.c
+++ b/device/camera/camera_output.c
@@ -76,3 +76,28 @@ int camera_configure_output(camera_t *camera, buffer_list_t *src_capture, int re
   return camera_configure_h264_output(camera, src_capture, res) == 0 &&
     camera_configure_jpeg_output(camera, src_capture, res) == 0;
 }
+
+int camera_configure_output_rescaler(camera_t *camera, buffer_list_t *src_capture, float high_div, float low_div)
+{
+  if (high_div > 1) {
+    if (camera_configure_legacy_isp(camera, src_capture, high_div, 0) < 0) {
+      return -1;
+    }
+  } else if (high_div > 0) {
+    if (camera_configure_output(camera, src_capture, 0) < 0) {
+      return -1;
+    }
+  }
+
+  if (low_div > 1) {
+    if (camera_configure_legacy_isp(camera, src_capture, low_div, 1) < 0) {
+      return -1;
+    }
+  } else if (low_div > 0) {
+    if (camera_configure_output(camera, src_capture, 1) < 0) {
+      return -1;
+    }
+  }
+
+  return 0;
+}
\ No newline at end of file
diff --git a/device/camera/camera_v4l2.c b/device/camera/camera_v4l2.c
deleted file mode 100644
index 456b68c..0000000
--- a/device/camera/camera_v4l2.c
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "camera.h"
-
-#include "device/buffer.h"
-#include "device/buffer_list.h"
-#include "device/device.h"
-#include "device/links.h"
-#include "opts/log.h"
-#include "opts/fourcc.h"
-
-int camera_configure_v4l2(camera_t *camera)
-{
-  camera->camera = device_v4l2_open(camera->name, camera->options.path);
-  if (!camera->camera) {
-    goto error;
-  }
-
-  camera->camera->opts.allow_dma = camera->options.allow_dma;
-
-  if (strstr(camera->camera->bus_info, "usb")) {
-    LOG_INFO(camera, "Disabling DMA since device uses USB (which is likely not working properly).");
-    camera->camera->opts.allow_dma = false;
-  }
-
-  buffer_list_t *camera_capture = device_open_buffer_list(camera->camera, true, camera->options.width, camera->options.height, camera->options.format, 0, camera->options.nbufs, true);
-  if (!camera_capture) {
-    goto error;
-  }
-  camera_capture->do_timestamps = true;
-
-  if (camera->options.fps > 0) {
-    camera_capture->fmt.interval_us = 1000 * 1000 / camera->options.fps;
-  }
-
-  switch (camera_capture->fmt.format) {
-  case V4L2_PIX_FMT_YUYV:
-  case V4L2_PIX_FMT_YVYU:
-  case V4L2_PIX_FMT_VYUY:
-  case V4L2_PIX_FMT_UYVY:
-  case V4L2_PIX_FMT_YUV420:
-  case V4L2_PIX_FMT_RGB565:
-  case V4L2_PIX_FMT_RGB24:
-    if (camera_configure_output(camera, camera_capture, 0) < 0) {
-      goto error;
-    }
-    break;
-
-  case V4L2_PIX_FMT_MJPEG:
-  case V4L2_PIX_FMT_H264:
-    if (camera_configure_decoder(camera, camera_capture) < 0) {
-      goto error;
-    }
-    break;
-
-  case V4L2_PIX_FMT_SRGGB10P:
-#if 1
-    if (camera_configure_isp(camera, camera_capture, camera->options.high_res_factor, camera->options.low_res_factor) < 0) {
-      goto error;
-    }
-#else
-    if (camera_configure_legacy_isp(camera, camera_capture, camera->options.high_res_factor, 0) < 0) {
-      goto error;
-    }
-#endif
-    break;
-
-  default:
-    LOG_ERROR(camera, "Unsupported camera format=%s",
-      fourcc_to_string(camera_capture->fmt.format).buf);
-    break;
-  }
-
-  return 0;
-
-error:
-  return -1;
-}
\ No newline at end of file