ESP32's neat and all, but it's severely underpowered and very limited in what it can do. A Banana Pi (while we're waiting for Raspberries) is going to be a much shorter route to success.
The ESP32 should be able to handle 9hz 160x120 video. There are some projects put there using it for this. I just can't get it to work and there are no step by step guides for it.
