diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index b604516..7de3eb5 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -17,6 +17,8 @@
 DEFINE_double(green, 1, "Green gain");
 DEFINE_double(blue, 1.96, "Blue gain");
 DEFINE_double(exposure, 150, "Camera exposure");
+DEFINE_bool(send_downsized_images, false,
+            "Whether to send downsized image for driver cam streaming.");
 
 namespace y2023 {
 namespace vision {
@@ -31,59 +33,70 @@
     media_device->Log();
   }
 
-  int width = 1296;
-  int height = 972;
-  int color_format = MEDIA_BUS_FMT_SBGGR10_1X10;
-  std::string camera_device_string = "ov5647 4-0036";
-  if (FLAGS_lowlight_camera) {
-    width = 1920;
-    height = 1080;
-    color_format = MEDIA_BUS_FMT_SRGGB10_1X10;
-    camera_device_string = "arducam-pivariety 4-000c";
-  }
+  const int kWidth = (FLAGS_lowlight_camera ? 1920 : 1296);
+  const int kHeight = (FLAGS_lowlight_camera ? 1080 : 972);
+  const int kColorFormat = (FLAGS_lowlight_camera ? MEDIA_BUS_FMT_SRGGB10_1X10
+                                                  : MEDIA_BUS_FMT_SBGGR10_1X10);
+
+  const std::string_view kCameraDeviceString =
+      (FLAGS_lowlight_camera ? "arducam-pivariety 4-000c" : "ov5647 4-0036");
+
+  // Scale down the selfpath images so we can log at 30 Hz (but still detect
+  // april tags at a far enough distance)
+  const double kSelfpathScalar = 2.0 / 3.0;
+  const int kSelfpathWidth = kWidth * kSelfpathScalar;
+  const int kSelfpathHeight = kHeight * kSelfpathScalar;
+
+  // Send heavily downsized images to the drivercam. They go over the network,
+  // and in this case frame rate is more important than quality
+  constexpr int kMainpathWidth = 640;
+  constexpr int kMainpathHeight = 480;
 
   media_device->Reset();
 
-  Entity *camera = media_device->FindEntity(camera_device_string);
-  camera->pads()[0]->SetSubdevFormat(width, height, color_format);
+  Entity *camera = media_device->FindEntity(kCameraDeviceString);
+  camera->pads()[0]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
 
   Entity *rkisp1_csi = media_device->FindEntity("rkisp1_csi");
-  rkisp1_csi->pads()[0]->SetSubdevFormat(width, height, color_format);
-  rkisp1_csi->pads()[1]->SetSubdevFormat(width, height, color_format);
+  rkisp1_csi->pads()[0]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
+  rkisp1_csi->pads()[1]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
 
   // TODO(austin): Should we set this on the link?
   Entity *rkisp1_isp = media_device->FindEntity("rkisp1_isp");
-  rkisp1_isp->pads(0)->SetSubdevFormat(width, height, color_format);
-  rkisp1_isp->pads(0)->SetSubdevCrop(width, height);
+  rkisp1_isp->pads(0)->SetSubdevFormat(kWidth, kHeight, kColorFormat);
+  rkisp1_isp->pads(0)->SetSubdevCrop(kWidth, kHeight);
 
-  rkisp1_isp->pads(2)->SetSubdevFormat(width, height, MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_isp->pads(2)->SetSubdevCrop(width, height);
+  rkisp1_isp->pads(2)->SetSubdevFormat(kWidth, kHeight,
+                                       MEDIA_BUS_FMT_YUYV8_2X8);
+  rkisp1_isp->pads(2)->SetSubdevCrop(kWidth, kHeight);
 
   Entity *rkisp1_resizer_selfpath =
       media_device->FindEntity("rkisp1_resizer_selfpath");
-  rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(width, height,
+  rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(kWidth, kHeight,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
   rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(
-      width * 2 / 3, height * 2 / 3, MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(width, height);
+      kSelfpathWidth, kSelfpathHeight, MEDIA_BUS_FMT_YUYV8_2X8);
+  rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(kWidth, kHeight);
 
   Entity *rkisp1_resizer_mainpath =
       media_device->FindEntity("rkisp1_resizer_mainpath");
-  rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(width, height,
+  rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(kWidth, kHeight,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
 
-  rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(width, height);
-  rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(width / 2, height / 2,
-                                                    MEDIA_BUS_FMT_YUYV8_2X8);
+  rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(kWidth, kHeight);
+  rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(
+      kMainpathWidth, kMainpathHeight, MEDIA_BUS_FMT_YUYV8_2X8);
 
   Entity *rkisp1_mainpath = media_device->FindEntity("rkisp1_mainpath");
-  rkisp1_mainpath->SetFormat(width / 2, height / 2, V4L2_PIX_FMT_YUV422P);
+  rkisp1_mainpath->SetFormat(kMainpathWidth, kMainpathHeight,
+                             V4L2_PIX_FMT_YUYV);
 
   Entity *rkisp1_selfpath = media_device->FindEntity("rkisp1_selfpath");
-  rkisp1_selfpath->SetFormat(width * 2 / 3, height * 2 / 3, V4L2_PIX_FMT_YUYV);
+  rkisp1_selfpath->SetFormat(kSelfpathWidth, kSelfpathHeight,
+                             V4L2_PIX_FMT_YUYV);
 
   media_device->Enable(
-      media_device->FindLink(camera_device_string, 0, "rkisp1_csi", 0));
+      media_device->FindLink(kCameraDeviceString, 0, "rkisp1_csi", 0));
   media_device->Enable(
       media_device->FindLink("rkisp1_csi", 1, "rkisp1_isp", 0));
   media_device->Enable(
@@ -99,16 +112,25 @@
   event_loop.SetRuntimeRealtimePriority(55);
   event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({2}));
 
-  RockchipV4L2Reader v4l2_reader(&event_loop, event_loop.epoll(),
-                                 rkisp1_selfpath->device(), camera->device());
-
+  // Reader for vision processing
+  RockchipV4L2Reader v4l2_reader_selfpath(&event_loop, event_loop.epoll(),
+                                          rkisp1_selfpath->device(),
+                                          camera->device());
   if (FLAGS_lowlight_camera) {
-    v4l2_reader.SetGainExt(100);
-    v4l2_reader.SetVerticalBlanking(1000);
-    v4l2_reader.SetExposure(FLAGS_exposure);
+    v4l2_reader_selfpath.SetGainExt(100);
+    v4l2_reader_selfpath.SetVerticalBlanking(1000);
+    v4l2_reader_selfpath.SetExposure(FLAGS_exposure);
   } else {
-    v4l2_reader.SetGainExt(1000);
-    v4l2_reader.SetExposure(1000);
+    v4l2_reader_selfpath.SetGainExt(1000);
+    v4l2_reader_selfpath.SetExposure(1000);
+  }
+
+  std::unique_ptr<RockchipV4L2Reader> v4l2_reader_mainpath;
+  if (FLAGS_send_downsized_images) {
+    // Reader for driver cam streaming on logger pi, sending lower res images
+    v4l2_reader_mainpath = std::make_unique<RockchipV4L2Reader>(
+        &event_loop, event_loop.epoll(), rkisp1_mainpath->device(),
+        camera->device(), "/camera/downsized");
   }
 
   {