diff --git a/src/external/slam_tracker/slam_tracker.hpp b/src/external/slam_tracker/slam_tracker.hpp
index 10b7951f8..ca46a6384 100644
--- a/src/external/slam_tracker/slam_tracker.hpp
+++ b/src/external/slam_tracker/slam_tracker.hpp
@@ -29,7 +29,7 @@ namespace xrt::auxiliary::tracking::slam {
 
 // For implementation: same as IMPLEMENTATION_VERSION_*
 // For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
-constexpr int HEADER_VERSION_MAJOR = 6; //!< API Breakages
+constexpr int HEADER_VERSION_MAJOR = 7; //!< API Breakages
 constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes
 constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes
 
@@ -61,6 +61,10 @@ struct pose {
   find_pose_extension(pose_ext_type required_type) const;
 };
 
+struct rect {
+  float x, y, w, h;
+};
+
 /*!
  * @brief IMU Sample type to pass around between programs
  */
@@ -82,6 +86,7 @@ struct img_sample {
   std::int64_t timestamp;
   cv::Mat img;
   int cam_index;
+  std::vector<rect> masks{}; //!< Masks to ignore
   img_sample() = default;
   img_sample(std::int64_t timestamp, const cv::Mat &img, int cam_index)
       : timestamp(timestamp), img(img), cam_index(cam_index) {}
@@ -274,6 +279,13 @@ DEFINE_FEATURE(ENABLE_POSE_EXT_TIMING, EPET, 3, bool, std::vector<std::string>)
  */
 DEFINE_FEATURE(ENABLE_POSE_EXT_FEATURES, EPEF, 4, bool, void)
 
+/*!
+ * Feature RESET_TRACKER_STATE
+ *
+ * Reset tracker state.
+ */
+DEFINE_FEATURE(RESET_TRACKER_STATE, RS, 5, void, void)
+
 /*
  * Pose extensions
  *