diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index b390f5cdb2322e..289f61afe0cf76 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -202,15 +202,9 @@ void CameraViewWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
-  std::lock_guard lk(lock);
-
   if (latest_texture_id == -1) return;
 
   glViewport(0, 0, width(), height());
-  // sync with the PBO
-  if (wait_fence) {
-    wait_fence->wait();
-  }
 
   glBindVertexArray(frame_vao);
   glActiveTexture(GL_TEXTURE0);
@@ -295,23 +289,20 @@ void CameraViewWidget::vipcThread() {
     }
 
     if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) {
-      {
-        std::lock_guard lk(lock);
-        if (!Hardware::EON()) {
-          void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
-          memcpy(texture_buffer, buf->addr, buf->len);
-          gl_buffer->unmap();
-
-          // copy pixels from PBO to texture object
-          glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
-          glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
-          glBindTexture(GL_TEXTURE_2D, 0);
-          assert(glGetError() == GL_NO_ERROR);
-
-          wait_fence.reset(new WaitFence());
-        }
-        latest_texture_id = buf->idx;
+      if (!Hardware::EON()) {
+        void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
+        memcpy(texture_buffer, buf->addr, buf->len);
+        gl_buffer->unmap();
+
+        // copy pixels from PBO to texture object
+        glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
+        glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
+        glBindTexture(GL_TEXTURE_2D, 0);
+        assert(glGetError() == GL_NO_ERROR);
+        // use glFinish to ensure that the texture has been uploaded.
+        glFinish();
       }
+      latest_texture_id = buf->idx;
       // Schedule update. update() will be invoked on the gui thread.
       QMetaObject::invokeMethod(this, "update");
 
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 03709cbdd87720..4cfba3c6fb2cae 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -36,20 +36,11 @@ class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   virtual void updateFrameMat(int w, int h);
   void vipcThread();
 
-  struct WaitFence {
-    WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); }
-    ~WaitFence() { glDeleteSync(sync); }
-    void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); }
-    GLsync sync = 0;
-  };
-
   bool zoomed_view;
-  std::mutex lock;
-  int latest_texture_id = -1;
+  std::atomic<int> latest_texture_id = -1;
   GLuint frame_vao, frame_vbo, frame_ibo;
   mat4 frame_mat;
   std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
-  std::unique_ptr<WaitFence> wait_fence;
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
@@ -59,6 +50,7 @@ class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   std::atomic<VisionStreamType> stream_type;
   QThread *vipc_thread = nullptr;
 
+
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
 };