diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index e99b4168bc..c89fc7f83a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,7 +26,7 @@ public:
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
              "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
              sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset,
-             b->rgb_width, b->rgb_height, buf_width, uv_offset,
+             b->out_img_width, b->out_img_height, buf_width, uv_offset,
              static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, s->cc.camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
@@ -79,20 +79,20 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   }
   LOGD("allocated %d CL buffers", frame_buf_count);
 
-  rgb_width = sensor->frame_width;
-  rgb_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
+  out_img_width = sensor->frame_width;
+  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
 
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
-  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height));
+  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width);
+  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height);
+  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width));
+  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height));
   size_t nv12_uv_offset = nv12_width * nv12_height;
 
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
@@ -118,7 +118,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
@@ -244,7 +244,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
 }
 
 void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
-  auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
+  auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4);
   if (thumbnail.size() == 0) return;
 
   MessageBuilder msg;
@@ -264,7 +264,7 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   unsigned int lum_total = 0;
   for (int y = ae_xywh.y; y < ae_xywh.y + ae_xywh.h; y += y_skip) {
     for (int x = ae_xywh.x; x < ae_xywh.x + ae_xywh.w; x += x_skip) {
-      uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
+      uint8_t lum = pix_ptr[(y * b->out_img_width) + x];
       lum_binning[lum]++;
       lum_total += 1;
     }
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 03d9cfd6ae..567a03c193 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -58,7 +58,7 @@ public:
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs;
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
-  int rgb_width, rgb_height;
+  int out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index a2c836c730..aa787dea8f 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -429,10 +429,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, buf.rgb_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, buf.rgb_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.rgb_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.rgb_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc
index be9a0cc59f..0620551ec6 100644
--- a/system/camerad/test/test_ae_gray.cc
+++ b/system/camerad/test/test_ae_gray.cc
@@ -34,11 +34,11 @@ TEST_CASE("camera.test_set_exposure_target") {
   uint8_t * fb_y = new uint8_t[W*H];
   vb.y = fb_y;
   cb.cur_yuv_buf = &vb;
-  cb.rgb_width = W;
-  cb.rgb_height = H;
+  cb.out_img_width = W;
+  cb.out_img_height = H;
   Rect rect = {0, 0, W-1, H-1};
 
-  printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
+  printf("AE test patterns %dx%d\n", cb.out_img_width, cb.out_img_height);
 
   // mix of 5 tones
   uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max