diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index e9f9bbfa09..98ee279450 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -349,7 +349,7 @@ void NvgWindow::paintGL() {
   CameraViewWidget::paintGL();
 
   UIState *s = uiState();
-  if (s->scene.world_objects_visible) {
+  if (s->worldObjectsVisible()) {
     QPainter painter(this);
     painter.setRenderHint(QPainter::Antialiasing);
     painter.setPen(Qt::NoPen);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index a8453889cb..8f82250fae 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -118,7 +118,6 @@ static void update_state(UIState *s) {
     update_leads(s, sm["radarState"].getRadarState(), line);
   }
   if (sm.updated("liveCalibration")) {
-    scene.world_objects_visible = true;
     auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
     Eigen::Vector3d rpy;
     rpy << rpy_list[0], rpy_list[1], rpy_list[2];
@@ -211,8 +210,6 @@ static void update_status(UIState *s) {
       s->scene.end_to_end = Params().getBool("EndToEndToggle");
       s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
     }
-    // Invisible until we receive a calibration message.
-    s->scene.world_objects_visible = false;
   }
   started_prev = s->scene.started;
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 7c16e4ae6f..329da8a881 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -82,8 +82,6 @@ typedef struct {
 
 typedef struct UIScene {
   mat3 view_from_calib;
-  bool world_objects_visible;
-
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
@@ -106,6 +104,9 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
+  inline bool worldObjectsVisible() const { 
+    return sm->rcv_frame("liveCalibration") > scene.started_frame;
+  };
 
   int fb_w = 0, fb_h = 0;