diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 1ca4b3f1ad..9404803153 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -7,6 +7,8 @@
 
 namespace {
 
+const size_t AR0231_FRAME_WIDTH = 1928;
+const size_t AR0231_FRAME_HEIGHT = 1208;
 const size_t AR0231_REGISTERS_HEIGHT = 2;
 // TODO: this extra height is universal and doesn't apply per camera
 const size_t AR0231_STATS_HEIGHT = 2 + 8;
@@ -80,14 +82,14 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 AR0231::AR0231() {
   image_sensor = cereal::FrameData::ImageSensor::AR0231;
   data_word = true;
-  frame_width = FRAME_WIDTH;
-  frame_height = FRAME_HEIGHT;
-  frame_stride = FRAME_STRIDE;
+  frame_width = AR0231_FRAME_WIDTH;
+  frame_height = AR0231_FRAME_HEIGHT;
+  frame_stride = (AR0231_FRAME_WIDTH * 12 / 8) + 4;
   extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
 
   registers_offset = 0;
   frame_offset = AR0231_REGISTERS_HEIGHT;
-  stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + AR0231_FRAME_HEIGHT;
 
   start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
   init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index b9ecb3f95f..0e960ebd1d 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -2,6 +2,9 @@
 
 namespace {
 
+const size_t OS04C10_FRAME_WIDTH = 2688;
+const size_t OS04C10_FRAME_HEIGHT = 1520;
+
 const float sensor_analog_gains_OS04C10[] = {
     1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
     1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
@@ -22,9 +25,9 @@ OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   data_word = false;
 
-  frame_width = 2688;
-  frame_height = 1520;
-  frame_stride = (frame_width*12/8); // no alignment
+  frame_width = OS04C10_FRAME_WIDTH;
+  frame_height = OS04C10_FRAME_HEIGHT;
+  frame_stride = (OS04C10_FRAME_WIDTH * 12 / 8); // no alignment
 
   extra_height = 0;
   frame_offset = 0;
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 1f0609820b..d432555fed 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -2,6 +2,9 @@
 
 namespace {
 
+const size_t OX03C10_FRAME_WIDTH = 1928;
+const size_t OX03C10_FRAME_HEIGHT = 1208;
+
 const float sensor_analog_gains_OX03C10[] = {
     1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
     1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
@@ -24,9 +27,9 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 OX03C10::OX03C10() {
   image_sensor = cereal::FrameData::ImageSensor::OX03C10;
   data_word = false;
-  frame_width = FRAME_WIDTH;
-  frame_height = FRAME_HEIGHT;
-  frame_stride = FRAME_STRIDE;  // (0xa80*12//8)
+  frame_width = OX03C10_FRAME_WIDTH;
+  frame_height = OX03C10_FRAME_HEIGHT;
+  frame_stride = (OX03C10_FRAME_WIDTH * 12 / 8) + 4;
   extra_height = 16;            // top 2 + bot 14
   frame_offset = 2;
 
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 4e2194d914..d97fd32a9c 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -12,10 +12,6 @@
 #include "system/camerad/sensors/os04c10_registers.h"
 
 #define ANALOG_GAIN_MAX_CNT 55
-const size_t FRAME_WIDTH = 1928;
-const size_t FRAME_HEIGHT = 1208;
-const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
-
 
 class SensorInfo {
 public: