diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index df9bb246510cfb..00f7415cbabad0 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -7,7 +7,7 @@
 
 const int FACE_IMG_SIZE = 130;
 
-DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@@ -75,3 +75,15 @@ void DriverViewWindow::paintGL() {
   p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }
+
+mat4 DriverViewWindow::calcFrameMatrix() {
+  const float driver_view_ratio = 2.0;
+  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height;
+  return mat4{{
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
+    0.0,  0.0, 1.0, 0.0,
+    0.0,  0.0, 0.0, 1.0,
+  }};
+}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 155e4ede32073d..00acb68d29c76f 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -12,6 +12,7 @@ class DriverViewWindow : public CameraWidget {
   void done();
 
 protected:
+  mat4 calcFrameMatrix() override;
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void paintGL() override;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index b538f19dde378b..c528501cbe289f 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -10,7 +10,8 @@
 #include "selfdrive/ui/qt/util.h"
 
 // Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
+    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
   pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
@@ -125,22 +126,54 @@ void AnnotatedCameraWidget::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void AnnotatedCameraWidget::updateFrameMat() {
-  CameraWidget::updateFrameMat();
-  UIState *s = uiState();
+mat4 AnnotatedCameraWidget::calcFrameMatrix() {
+  // Project point at "infinity" to compute x and y offsets
+  // to ensure this ends up in the middle of the screen
+  // for narrow come and a little lower for wide cam.
+  // TODO: use proper perspective transform?
+
+  // Select intrinsic matrix and calibration based on camera type
+  auto *s = uiState();
+  bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD;
+  const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX;
+  const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
+
+   // Compute the calibration transformation matrix
+  const auto calib_transform = intrinsic_matrix * calibration;
+
+  float zoom = wide_cam ? 2.0 : 1.1;
+  Eigen::Vector3f inf(1000., 0., 0.);
+  auto Kep = calib_transform * inf;
+
   int w = width(), h = height();
+  float center_x = intrinsic_matrix(0, 2);
+  float center_y = intrinsic_matrix(1, 2);
 
-  s->fb_w = w;
-  s->fb_h = h;
+  float max_x_offset = center_x * zoom - w / 2 - 5;
+  float max_y_offset = center_y * zoom - h / 2 - 5;
+  float x_offset = std::clamp<float>((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset);
+  float y_offset = std::clamp<float>((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset);
 
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
-  s->car_space_transform.reset();
-  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
-      .scale(zoom, zoom)
-      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
+  Eigen::Matrix3f video_transform =(Eigen::Matrix3f() <<
+    zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom),
+    0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
+    0.0f, 0.0f, 1.0f).finished();
+
+  s->car_space_transform = video_transform * calib_transform;
+  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+
+  float zx = zoom * 2 * center_x / w;
+  float zy = zoom * 2 * center_y / h;
+  return mat4{{
+    zx, 0.0, 0.0, -x_offset / w * 2,
+    0.0, zy, 0.0, y_offset / h * 2,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
 }
 
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
@@ -271,18 +304,8 @@ void AnnotatedCameraWidget::paintGL() {
         wide_cam_requested = false;
       }
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      // for replay of old routes, never go to widecam
-      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-
-    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
-    if (s->scene.calibration_valid) {
-      auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
-      CameraWidget::updateCalibration(calib);
-    } else {
-      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
-    }
     CameraWidget::setFrameId(model.getFrameId());
     CameraWidget::paintGL();
   }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 4a4196b22ce028..3820de5d86653c 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -36,7 +36,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat() override;
+  mat4 calcFrameMatrix() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 823e14bf3c58a4..080f9bd50fa4a9 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -21,7 +21,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   split->addWidget(nvg);
 
   if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this);
     split->insertWidget(0, arCam);
   }
 
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index b43f8c43220c3d..674e5e999cb2cd 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -7,13 +7,7 @@
 #endif
 
 #include <cmath>
-#include <set>
-#include <string>
-#include <utility>
-
 #include <QApplication>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
 
 namespace {
 
@@ -66,40 +60,10 @@ const char frame_fragment_shader[] =
   "}\n";
 #endif
 
-mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
-  const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
-  mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
-    0.0,  0.0, 1.0, 0.0,
-    0.0,  0.0, 0.0, 1.0,
-  }};
-  return transform;
-}
-
-mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) {
-  float zx = 1, zy = 1;
-  if (frame_aspect_ratio > widget_aspect_ratio) {
-    zy = widget_aspect_ratio / frame_aspect_ratio;
-  } else {
-    zx = frame_aspect_ratio / widget_aspect_ratio;
-  }
-
-  const mat4 frame_transform = {{
-    zx, 0.0, 0.0, 0.0,
-    0.0, zy, 0.0, 0.0,
-    0.0, 0.0, 1.0, 0.0,
-    0.0, 0.0, 0.0, 1.0,
-  }};
-  return frame_transform;
-}
-
 } // namespace
 
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
-                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
@@ -214,59 +178,19 @@ void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
   available_streams = streams;
 }
 
-void CameraWidget::updateFrameMat() {
-  int w = glWidth(), h = glHeight();
+mat4 CameraWidget::calcFrameMatrix() {
+  // Scale the frame to fit the widget while maintaining the aspect ratio.
+  float widget_aspect_ratio = (float)width() / height();
+  float frame_aspect_ratio = (float)stream_width / stream_height;
+  float zx = std::min(frame_aspect_ratio / widget_aspect_ratio, 1.0f);
+  float zy = std::min(widget_aspect_ratio / frame_aspect_ratio, 1.0f);
 
-  if (zoomed_view) {
-    if (active_stream_type == VISION_STREAM_DRIVER) {
-      if (stream_width > 0 && stream_height > 0) {
-        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
-      }
-    } else {
-      // Project point at "infinity" to compute x and y offsets
-      // to ensure this ends up in the middle of the screen
-      // for narrow come and a little lower for wide cam.
-      // TODO: use proper perspective transform?
-      if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
-        zoom = 2.0;
-      } else {
-        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-        zoom = 1.1;
-      }
-      const vec3 inf = {{1000., 0., 0.}};
-      const vec3 Ep = matvecmul3(calibration, inf);
-      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
-
-      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
-      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
-
-      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
-      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
-
-      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
-      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
-
-      float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
-      float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
-      const mat4 frame_transform = {{
-        zx, 0.0, 0.0, -x_offset / w * 2,
-        0.0, zy, 0.0, y_offset / h * 2,
-        0.0, 0.0, 1.0, 0.0,
-        0.0, 0.0, 0.0, 1.0,
-      }};
-      frame_mat = frame_transform;
-    }
-  } else if (stream_width > 0 && stream_height > 0) {
-    // fit frame to widget size
-    float widget_aspect_ratio = (float)w / h;
-    float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
-  }
-}
-
-void CameraWidget::updateCalibration(const mat3 &calib) {
-  calibration = calib;
+  return mat4{{
+    zx, 0.0, 0.0, 0.0,
+    0.0, zy, 0.0, 0.0,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
 }
 
 void CameraWidget::paintGL() {
@@ -293,7 +217,7 @@ void CameraWidget::paintGL() {
   VisionBuf *frame = frames[frame_idx].second;
   assert(frame != nullptr);
 
-  updateFrameMat();
+  auto frame_mat = calcFrameMatrix();
 
   glViewport(0, 0, glWidth(), glHeight());
   glBindVertexArray(frame_vao);
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 85ec49873579dc..73f4858c4b994d 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -34,7 +34,7 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
 
 public:
   using QOpenGLWidget::QOpenGLWidget;
-  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
@@ -51,21 +51,17 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat();
-  void updateCalibration(const mat3 &calib);
+  virtual mat4 calcFrameMatrix();
   void vipcThread();
   void clearFrames();
 
   int glWidth();
   int glHeight();
 
-  bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat = {};
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
@@ -81,14 +77,6 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   std::atomic<VisionStreamType> requested_stream_type;
   std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
-
-  // Calibration
-  float x_offset = 0;
-  float y_offset = 0;
-  float zoom = 1.0;
-  mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index cbe05edfc9c466..852980d54e8290 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,13 +1,11 @@
 #include "selfdrive/ui/ui.h"
 
 #include <algorithm>
-#include <cassert>
 #include <cmath>
 
 #include <QtConcurrent>
 
 #include "common/transformations/orientation.hpp"
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
@@ -19,20 +17,10 @@
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  const float margin = 500.0f;
-  const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin};
-
-  const vec3 pt = (vec3){{in_x, in_y, in_z}};
-  const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
-
-  // Project.
-  QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
-  if (clip_region.contains(point)) {
-    *out = point;
-    return true;
-  }
-  return false;
+  Eigen::Vector3f input(in_x, in_y, in_z);
+  auto transformed = s->car_space_transform * input;
+  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
+  return s->clip_region.contains(*out);
 }
 
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
@@ -119,29 +107,19 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
+    auto list2rot = [](const capnp::List<float>::Reader &rpy_list) ->Eigen::Matrix3f {
+      return euler2rot({rpy_list[0], rpy_list[1], rpy_list[2]}).cast<float>();
+    };
+
     auto live_calib = sm["liveCalibration"].getLiveCalibration();
-    auto rpy_list = live_calib.getRpyCalib();
-    auto wfde_list = live_calib.getWideFromDeviceEuler();
-    Eigen::Vector3d rpy;
-    Eigen::Vector3d wfde;
-    if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
-    if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2];
-    Eigen::Matrix3d device_from_calib = euler2rot(rpy);
-    Eigen::Matrix3d wide_from_device = euler2rot(wfde);
-    Eigen::Matrix3d view_from_device;
-    view_from_device << 0, 1, 0,
-                        0, 0, 1,
-                        1, 0, 0;
-    Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
-    Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib;
-    for (int i = 0; i < 3; i++) {
-      for (int j = 0; j < 3; j++) {
-        scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j);
-        scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j);
-      }
+    if (live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED) {
+      auto device_from_calib = list2rot(live_calib.getRpyCalib());
+      auto wide_from_device = list2rot(live_calib.getWideFromDeviceEuler());
+      s->scene.view_from_calib = VIEW_FROM_DEVICE * device_from_calib;
+      s->scene.view_from_wide_calib = VIEW_FROM_DEVICE * wide_from_device * device_from_calib;
+    } else {
+      s->scene.view_from_calib = s->scene.view_from_wide_calib = VIEW_FROM_DEVICE;
     }
-    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
     auto pandaStates = sm["pandaStates"].getPandaStates();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 8cf2f52d589d02..8a06a4cccb7713 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -1,19 +1,18 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
 #include <memory>
 #include <string>
 
-#include <QObject>
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
 #include <QPolygonF>
-#include <QTransform>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
 #include "common/params.h"
-#include "common/timing.h"
+#include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/prime_state.h"
 
@@ -25,15 +24,22 @@ const int BACKLIGHT_OFFROAD = 50;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
-constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
-constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
+  0.0, 1.0, 0.0,
+  0.0, 0.0, 1.0,
+  1.0, 0.0, 0.0).finished();
+
+const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  2648.0, 0.0, 1928.0 / 2,
+  0.0, 2648.0, 1208.0 / 2,
+  0.0, 0.0, 1.0).finished();
+
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  567.0, 0.0, 1928.0 / 2,
+  0.0, 567.0, 1208.0 / 2,
+  0.0, 0.0, 1.0).finished();
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -47,13 +53,9 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-
 typedef struct UIScene {
-  bool calibration_valid = false;
-  bool calibration_wide_valid  = false;
-  bool wide_cam = true;
-  mat3 view_from_calib = DEFAULT_CALIBRATION;
-  mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
+  Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
+  Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
@@ -84,18 +86,16 @@ class UIState : public QObject {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
-  int fb_w = 0, fb_h = 0;
-
   std::unique_ptr<SubMaster> sm;
-
   UIStatus status;
   UIScene scene = {};
 
   QString language;
-
-  QTransform car_space_transform;
   PrimeState *prime_state;
 
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
+
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -150,7 +150,6 @@ void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model);
-void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index c14e03aa6ea70f..258e2a7bd6ff9c 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,14 +19,14 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
   }
 
   return a.exec();
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 48f768c819ddf5..07d283787f7a78 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -148,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -420,8 +420,8 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
   }
 }
 
-StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
-    : CameraWidget(stream_name, stream_type, zoom, parent) {
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
   fade_animation->setDuration(500);
   fade_animation->setStartValue(0.2f);
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 76364083a8f2f3..17bec7854572af 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -64,7 +64,7 @@ class StreamCameraView : public CameraWidget {
   Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
 
 public:
-  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
   void paintGL() override;
   void showPausedOverlay() { fade_animation->start(); }
   float overlayOpacity() const { return overlay_opacity; }