diff --git a/examples/server-h264-save-to-disk/main.go b/examples/server-h264-save-to-disk/main.go
index 79aabc1b..b80a196a 100644
--- a/examples/server-h264-save-to-disk/main.go
+++ b/examples/server-h264-save-to-disk/main.go
@@ -7,7 +7,7 @@ import (
 
 	"github.com/aler9/gortsplib"
 	"github.com/aler9/gortsplib/pkg/base"
-	"github.com/aler9/gortsplib/pkg/rtph264"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtph264"
 )
 
 // This example shows how to
@@ -79,10 +79,7 @@ func (sh *serverHandler) OnAnnounce(ctx *gortsplib.ServerHandlerOnAnnounceCtx) (
 	}
 
 	// setup RTP/H264->H264 decoder
-	rtpDec := &rtph264.Decoder{
-		PacketizationMode: h264track.PacketizationMode,
-	}
-	rtpDec.Init()
+	rtpDec := h264track.CreateDecoder()
 
 	// setup H264->MPEGTS muxer
 	mpegtsMuxer, err := newMPEGTSMuxer(h264track.SafeSPS(), h264track.SafePPS())
diff --git a/pkg/rtpcodecs/rtpcodecs.go b/pkg/rtpcodecs/rtpcodecs.go
new file mode 100644
index 00000000..7f5e3a35
--- /dev/null
+++ b/pkg/rtpcodecs/rtpcodecs.go
@@ -0,0 +1,2 @@
+// Package rtpcodecs contains utilities to convert codec-specific elements from/to RTP packets.
+package rtpcodecs
diff --git a/pkg/rtph264/decoder.go b/pkg/rtpcodecs/rtph264/decoder.go
similarity index 100%
rename from pkg/rtph264/decoder.go
rename to pkg/rtpcodecs/rtph264/decoder.go
diff --git a/pkg/rtph264/decoder_test.go b/pkg/rtpcodecs/rtph264/decoder_test.go
similarity index 100%
rename from pkg/rtph264/decoder_test.go
rename to pkg/rtpcodecs/rtph264/decoder_test.go
diff --git a/pkg/rtph264/encoder.go b/pkg/rtpcodecs/rtph264/encoder.go
similarity index 100%
rename from pkg/rtph264/encoder.go
rename to pkg/rtpcodecs/rtph264/encoder.go
diff --git a/pkg/rtph264/encoder_test.go b/pkg/rtpcodecs/rtph264/encoder_test.go
similarity index 100%
rename from pkg/rtph264/encoder_test.go
rename to pkg/rtpcodecs/rtph264/encoder_test.go
diff --git a/pkg/rtph264/nalutype.go b/pkg/rtpcodecs/rtph264/nalutype.go
similarity index 100%
rename from pkg/rtph264/nalutype.go
rename to pkg/rtpcodecs/rtph264/nalutype.go
diff --git a/pkg/rtph264/nalutype_test.go b/pkg/rtpcodecs/rtph264/nalutype_test.go
similarity index 100%
rename from pkg/rtph264/nalutype_test.go
rename to pkg/rtpcodecs/rtph264/nalutype_test.go
diff --git a/pkg/rtph264/rtph264.go b/pkg/rtpcodecs/rtph264/rtph264.go
similarity index 100%
rename from pkg/rtph264/rtph264.go
rename to pkg/rtpcodecs/rtph264/rtph264.go
diff --git a/pkg/rtph265/decoder.go b/pkg/rtpcodecs/rtph265/decoder.go
similarity index 100%
rename from pkg/rtph265/decoder.go
rename to pkg/rtpcodecs/rtph265/decoder.go
diff --git a/pkg/rtph265/decoder_test.go b/pkg/rtpcodecs/rtph265/decoder_test.go
similarity index 100%
rename from pkg/rtph265/decoder_test.go
rename to pkg/rtpcodecs/rtph265/decoder_test.go
diff --git a/pkg/rtph265/encoder.go b/pkg/rtpcodecs/rtph265/encoder.go
similarity index 100%
rename from pkg/rtph265/encoder.go
rename to pkg/rtpcodecs/rtph265/encoder.go
diff --git a/pkg/rtph265/encoder_test.go b/pkg/rtpcodecs/rtph265/encoder_test.go
similarity index 100%
rename from pkg/rtph265/encoder_test.go
rename to pkg/rtpcodecs/rtph265/encoder_test.go
diff --git a/pkg/rtph265/rtph265.go b/pkg/rtpcodecs/rtph265/rtph265.go
similarity index 100%
rename from pkg/rtph265/rtph265.go
rename to pkg/rtpcodecs/rtph265/rtph265.go
diff --git a/pkg/rtplpcm/decoder.go b/pkg/rtpcodecs/rtplpcm/decoder.go
similarity index 100%
rename from pkg/rtplpcm/decoder.go
rename to pkg/rtpcodecs/rtplpcm/decoder.go
diff --git a/pkg/rtplpcm/decoder_test.go b/pkg/rtpcodecs/rtplpcm/decoder_test.go
similarity index 100%
rename from pkg/rtplpcm/decoder_test.go
rename to pkg/rtpcodecs/rtplpcm/decoder_test.go
diff --git a/pkg/rtplpcm/encoder.go b/pkg/rtpcodecs/rtplpcm/encoder.go
similarity index 100%
rename from pkg/rtplpcm/encoder.go
rename to pkg/rtpcodecs/rtplpcm/encoder.go
diff --git a/pkg/rtplpcm/encoder_test.go b/pkg/rtpcodecs/rtplpcm/encoder_test.go
similarity index 100%
rename from pkg/rtplpcm/encoder_test.go
rename to pkg/rtpcodecs/rtplpcm/encoder_test.go
diff --git a/pkg/rtplpcm/rtpsimpleaudio.go b/pkg/rtpcodecs/rtplpcm/rtpsimpleaudio.go
similarity index 100%
rename from pkg/rtplpcm/rtpsimpleaudio.go
rename to pkg/rtpcodecs/rtplpcm/rtpsimpleaudio.go
diff --git a/pkg/rtpmpeg4audio/decoder.go b/pkg/rtpcodecs/rtpmpeg4audio/decoder.go
similarity index 100%
rename from pkg/rtpmpeg4audio/decoder.go
rename to pkg/rtpcodecs/rtpmpeg4audio/decoder.go
diff --git a/pkg/rtpmpeg4audio/decoder_test.go b/pkg/rtpcodecs/rtpmpeg4audio/decoder_test.go
similarity index 100%
rename from pkg/rtpmpeg4audio/decoder_test.go
rename to pkg/rtpcodecs/rtpmpeg4audio/decoder_test.go
diff --git a/pkg/rtpmpeg4audio/encoder.go b/pkg/rtpcodecs/rtpmpeg4audio/encoder.go
similarity index 100%
rename from pkg/rtpmpeg4audio/encoder.go
rename to pkg/rtpcodecs/rtpmpeg4audio/encoder.go
diff --git a/pkg/rtpmpeg4audio/encoder_test.go b/pkg/rtpcodecs/rtpmpeg4audio/encoder_test.go
similarity index 100%
rename from pkg/rtpmpeg4audio/encoder_test.go
rename to pkg/rtpcodecs/rtpmpeg4audio/encoder_test.go
diff --git a/pkg/rtpmpeg4audio/rtpmpeg4audio.go b/pkg/rtpcodecs/rtpmpeg4audio/rtpmpeg4audio.go
similarity index 100%
rename from pkg/rtpmpeg4audio/rtpmpeg4audio.go
rename to pkg/rtpcodecs/rtpmpeg4audio/rtpmpeg4audio.go
diff --git a/pkg/rtpsimpleaudio/decoder.go b/pkg/rtpcodecs/rtpsimpleaudio/decoder.go
similarity index 100%
rename from pkg/rtpsimpleaudio/decoder.go
rename to pkg/rtpcodecs/rtpsimpleaudio/decoder.go
diff --git a/pkg/rtpsimpleaudio/decoder_test.go b/pkg/rtpcodecs/rtpsimpleaudio/decoder_test.go
similarity index 100%
rename from pkg/rtpsimpleaudio/decoder_test.go
rename to pkg/rtpcodecs/rtpsimpleaudio/decoder_test.go
diff --git a/pkg/rtpsimpleaudio/encoder.go b/pkg/rtpcodecs/rtpsimpleaudio/encoder.go
similarity index 100%
rename from pkg/rtpsimpleaudio/encoder.go
rename to pkg/rtpcodecs/rtpsimpleaudio/encoder.go
diff --git a/pkg/rtpsimpleaudio/encoder_test.go b/pkg/rtpcodecs/rtpsimpleaudio/encoder_test.go
similarity index 100%
rename from pkg/rtpsimpleaudio/encoder_test.go
rename to pkg/rtpcodecs/rtpsimpleaudio/encoder_test.go
diff --git a/pkg/rtpsimpleaudio/rtpsimpleaudio.go b/pkg/rtpcodecs/rtpsimpleaudio/rtpsimpleaudio.go
similarity index 100%
rename from pkg/rtpsimpleaudio/rtpsimpleaudio.go
rename to pkg/rtpcodecs/rtpsimpleaudio/rtpsimpleaudio.go
diff --git a/pkg/rtpvp8/decoder.go b/pkg/rtpcodecs/rtpvp8/decoder.go
similarity index 100%
rename from pkg/rtpvp8/decoder.go
rename to pkg/rtpcodecs/rtpvp8/decoder.go
diff --git a/pkg/rtpvp8/decoder_test.go b/pkg/rtpcodecs/rtpvp8/decoder_test.go
similarity index 100%
rename from pkg/rtpvp8/decoder_test.go
rename to pkg/rtpcodecs/rtpvp8/decoder_test.go
diff --git a/pkg/rtpvp8/encoder.go b/pkg/rtpcodecs/rtpvp8/encoder.go
similarity index 100%
rename from pkg/rtpvp8/encoder.go
rename to pkg/rtpcodecs/rtpvp8/encoder.go
diff --git a/pkg/rtpvp8/encoder_test.go b/pkg/rtpcodecs/rtpvp8/encoder_test.go
similarity index 100%
rename from pkg/rtpvp8/encoder_test.go
rename to pkg/rtpcodecs/rtpvp8/encoder_test.go
diff --git a/pkg/rtpvp8/rtpvp8.go b/pkg/rtpcodecs/rtpvp8/rtpvp8.go
similarity index 100%
rename from pkg/rtpvp8/rtpvp8.go
rename to pkg/rtpcodecs/rtpvp8/rtpvp8.go
diff --git a/pkg/rtpvp9/decoder.go b/pkg/rtpcodecs/rtpvp9/decoder.go
similarity index 100%
rename from pkg/rtpvp9/decoder.go
rename to pkg/rtpcodecs/rtpvp9/decoder.go
diff --git a/pkg/rtpvp9/decoder_test.go b/pkg/rtpcodecs/rtpvp9/decoder_test.go
similarity index 100%
rename from pkg/rtpvp9/decoder_test.go
rename to pkg/rtpcodecs/rtpvp9/decoder_test.go
diff --git a/pkg/rtpvp9/encoder.go b/pkg/rtpcodecs/rtpvp9/encoder.go
similarity index 100%
rename from pkg/rtpvp9/encoder.go
rename to pkg/rtpcodecs/rtpvp9/encoder.go
diff --git a/pkg/rtpvp9/encoder_test.go b/pkg/rtpcodecs/rtpvp9/encoder_test.go
similarity index 100%
rename from pkg/rtpvp9/encoder_test.go
rename to pkg/rtpcodecs/rtpvp9/encoder_test.go
diff --git a/pkg/rtpvp9/rtpvp9.go b/pkg/rtpcodecs/rtpvp9/rtpvp9.go
similarity index 100%
rename from pkg/rtpvp9/rtpvp9.go
rename to pkg/rtpcodecs/rtpvp9/rtpvp9.go
diff --git a/track_g722.go b/track_g722.go
index 0492ec3e..95800f45 100644
--- a/track_g722.go
+++ b/track_g722.go
@@ -6,7 +6,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpsimpleaudio"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpsimpleaudio"
 )
 
 // TrackG722 is a G722 track.
diff --git a/track_h264.go b/track_h264.go
index d287ae48..6c23bd4d 100644
--- a/track_h264.go
+++ b/track_h264.go
@@ -10,7 +10,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtph264"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtph264"
 )
 
 // TrackH264 is a H264 track.
diff --git a/track_h265.go b/track_h265.go
index 03419d3a..b235c093 100644
--- a/track_h265.go
+++ b/track_h265.go
@@ -9,7 +9,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtph265"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtph265"
 )
 
 // TrackH265 is a H265 track.
diff --git a/track_lpcm.go b/track_lpcm.go
index 13de6703..90131dd4 100644
--- a/track_lpcm.go
+++ b/track_lpcm.go
@@ -7,7 +7,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtplpcm"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtplpcm"
 )
 
 // TrackLPCM is an uncompressed, Linear PCM track.
diff --git a/track_mpeg4audio.go b/track_mpeg4audio.go
index 5a75e023..8b3d0ea8 100644
--- a/track_mpeg4audio.go
+++ b/track_mpeg4audio.go
@@ -9,7 +9,7 @@ import (
 	psdp "github.com/pion/sdp/v3"
 
 	"github.com/aler9/gortsplib/pkg/mpeg4audio"
-	"github.com/aler9/gortsplib/pkg/rtpmpeg4audio"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpmpeg4audio"
 )
 
 // TrackMPEG4Audio is a MPEG-4 audio track.
diff --git a/track_opus.go b/track_opus.go
index 445fc14b..082d8c2b 100644
--- a/track_opus.go
+++ b/track_opus.go
@@ -7,7 +7,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpsimpleaudio"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpsimpleaudio"
 )
 
 // TrackOpus is a Opus track.
diff --git a/track_pcma.go b/track_pcma.go
index c4212bbe..c520795f 100644
--- a/track_pcma.go
+++ b/track_pcma.go
@@ -6,7 +6,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpsimpleaudio"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpsimpleaudio"
 )
 
 // TrackPCMA is a PCMA track.
diff --git a/track_pcmu.go b/track_pcmu.go
index dced7677..beb8e1e1 100644
--- a/track_pcmu.go
+++ b/track_pcmu.go
@@ -6,7 +6,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpsimpleaudio"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpsimpleaudio"
 )
 
 // TrackPCMU is a PCMU track.
diff --git a/track_vp8.go b/track_vp8.go
index 0ad0abaa..07e687cd 100644
--- a/track_vp8.go
+++ b/track_vp8.go
@@ -7,7 +7,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpvp8"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpvp8"
 )
 
 // TrackVP8 is a VP8 track.
diff --git a/track_vp9.go b/track_vp9.go
index 69a89d69..e528f9cd 100644
--- a/track_vp9.go
+++ b/track_vp9.go
@@ -7,7 +7,7 @@ import (
 
 	psdp "github.com/pion/sdp/v3"
 
-	"github.com/aler9/gortsplib/pkg/rtpvp9"
+	"github.com/aler9/gortsplib/pkg/rtpcodecs/rtpvp9"
 )
 
 // TrackVP9 is a VP9 track.