diff --git a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
index 172aae808..2c92d0e3e 100644
--- a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+++ b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
@@ -174,11 +174,16 @@ extern "C" void
 t_slam_imu_sink_push(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
 {
 	auto &t = *container_of(sink, TrackerSlam, imu_sink);
+
+	timepoint_ns ts = s->timestamp_ns;
+	xrt_vec3_f64 a = s->accel_m_s2;
+	xrt_vec3_f64 w = s->gyro_rad_secs;
+
 	//! @todo There are many conversions like these between xrt and
 	//! slam_tracker.hpp types. Implement a casting mechanism to avoid copies.
-	imu_sample sample{s->timestamp, s->ax, s->ay, s->az, s->wx, s->wy, s->wz};
+	imu_sample sample{ts, a.x, a.y, a.z, w.x, w.y, w.z};
 	t.slam->push_imu_sample(sample);
-	SLAM_TRACE("imu t=%ld a=[%f,%f,%f] w=[%f,%f,%f]", s->timestamp, s->ax, s->ay, s->az, s->wx, s->wy, s->wz);
+	SLAM_TRACE("imu t=%ld a=[%f,%f,%f] w=[%f,%f,%f]", ts, a.x, a.y, a.z, w.x, w.y, w.z);
 }
 
 /*!
diff --git a/src/xrt/drivers/euroc/euroc_player.cpp b/src/xrt/drivers/euroc/euroc_player.cpp
index 19d759169..206c01ce0 100644
--- a/src/xrt/drivers/euroc/euroc_player.cpp
+++ b/src/xrt/drivers/euroc/euroc_player.cpp
@@ -159,7 +159,7 @@ euroc_player_preload_imu_data(struct euroc_player *ep,
 			set_base_ts = false;
 		}
 
-		xrt_imu_sample sample{timestamp, v[3], v[4], v[5], v[0], v[1], v[2]};
+		xrt_imu_sample sample{timestamp, {v[3], v[4], v[5]}, {v[0], v[1], v[2]}};
 		samples->push_back(sample);
 	}
 	return true;
@@ -220,7 +220,7 @@ euroc_player_user_skip(struct euroc_player *ep)
 {
 	timepoint_ns skip_first_ns = ep->playback.skip_first_s * 1000 * 1000 * 1000;
 
-	while (ep->imus->at(ep->imu_seq).timestamp < skip_first_ns) {
+	while (ep->imus->at(ep->imu_seq).timestamp_ns < skip_first_ns) {
 		ep->imu_seq++;
 	}
 
@@ -343,7 +343,7 @@ euroc_player_is_imu_next(struct euroc_player *ep)
 	}
 
 	bool more_imgs = ep->img_seq < ep->left_imgs->size();
-	timepoint_ns imu_ts = more_imus ? ep->imus->at(ep->imu_seq).timestamp : INT64_MAX;
+	timepoint_ns imu_ts = more_imus ? ep->imus->at(ep->imu_seq).timestamp_ns : INT64_MAX;
 	timepoint_ns img_ts = more_imgs ? ep->left_imgs->at(ep->img_seq).first : INT64_MAX;
 	return imu_ts < img_ts;
 }
@@ -356,7 +356,7 @@ euroc_player_push_next_sample(struct euroc_player *ep)
 	// Push next IMU sample
 	if (euroc_player_is_imu_next(ep)) {
 		xrt_imu_sample sample = ep->imus->at(ep->imu_seq++);
-		sample.timestamp = euroc_player_mapped_ts(ep, sample.timestamp);
+		sample.timestamp_ns = euroc_player_mapped_ts(ep, sample.timestamp_ns);
 		xrt_sink_push_imu(ep->in_sinks.imu, &sample);
 		return;
 	}
@@ -502,15 +502,18 @@ receive_imu_sample(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
 {
 	struct euroc_player *ep = container_of(sink, struct euroc_player, imu_sink);
 
+	timepoint_ns ts = s->timestamp_ns;
+	xrt_vec3_f64 a = s->accel_m_s2;
+	xrt_vec3_f64 w = s->gyro_rad_secs;
+
 	// UI log
-	const xrt_vec3 gyro{(float)s->wx, (float)s->wy, (float)s->wz};
-	const xrt_vec3 accel{(float)s->ax, (float)s->ay, (float)s->az};
-	m_ff_vec3_f32_push(ep->gyro_ff, &gyro, s->timestamp);
-	m_ff_vec3_f32_push(ep->accel_ff, &accel, s->timestamp);
+	const xrt_vec3 gyro{(float)w.x, (float)w.y, (float)w.z};
+	const xrt_vec3 accel{(float)a.x, (float)a.y, (float)a.z};
+	m_ff_vec3_f32_push(ep->gyro_ff, &gyro, ts);
+	m_ff_vec3_f32_push(ep->accel_ff, &accel, ts);
 
 	// Trace log
-	EUROC_TRACE(ep, "imu t=%ld ax=%f ay=%f az=%f wx=%f wy=%f wz=%f", s->timestamp, s->ax, s->ay, s->az, s->wx,
-	            s->wy, s->wz);
+	EUROC_TRACE(ep, "imu t=%ld ax=%f ay=%f az=%f wx=%f wy=%f wz=%f", ts, a.x, a.y, a.z, w.x, w.y, w.z);
 	if (ep->out_sinks.imu) {
 		xrt_sink_push_imu(ep->out_sinks.imu, s);
 	}
diff --git a/src/xrt/drivers/realsense/rs_hdev.c b/src/xrt/drivers/realsense/rs_hdev.c
index b0cd18fa8..6c3bf552e 100644
--- a/src/xrt/drivers/realsense/rs_hdev.c
+++ b/src/xrt/drivers/realsense/rs_hdev.c
@@ -547,7 +547,7 @@ partial_imu_sample_push(struct rs_hdev *rs, timepoint_ns ts, struct xrt_vec3 val
 	if (should_submit) {
 		struct xrt_vec3 gyro = rs->partial_imu_sample.gyro;
 		struct xrt_vec3 accel = rs->partial_imu_sample.accel;
-		struct xrt_imu_sample sample = {ts, accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z};
+		struct xrt_imu_sample sample = {ts, {accel.x, accel.y, accel.z}, {gyro.x, gyro.y, gyro.z}};
 		RS_TRACE("imu t=%ld a=%f,%f,%f w=%f,%f,%f", ts, accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
 		xrt_sink_push_imu(rs->in_sinks.imu, &sample);
 
@@ -862,7 +862,12 @@ static void
 receive_imu_sample(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
 {
 	struct rs_hdev *rs = container_of(sink, struct rs_hdev, imu_sink);
-	RS_TRACE("imu t=%ld a=(%f %f %f) w=(%f %f %f)", s->timestamp, s->ax, s->ay, s->az, s->wx, s->wy, s->wz);
+
+	timepoint_ns ts = s->timestamp_ns;
+	struct xrt_vec3_f64 a = s->accel_m_s2;
+	struct xrt_vec3_f64 w = s->gyro_rad_secs;
+	RS_TRACE("imu t=%ld a=(%f %f %f) w=(%f %f %f)", ts, a.x, a.y, a.z, w.x, w.y, w.z);
+
 	if (rs->out_sinks.imu) {
 		xrt_sink_push_imu(rs->out_sinks.imu, s);
 	}
diff --git a/src/xrt/include/xrt/xrt_tracking.h b/src/xrt/include/xrt/xrt_tracking.h
index b9a0c902d..2887eef4c 100644
--- a/src/xrt/include/xrt/xrt_tracking.h
+++ b/src/xrt/include/xrt/xrt_tracking.h
@@ -137,8 +137,9 @@ struct xrt_tracking_sample
  */
 struct xrt_imu_sample
 {
-	timepoint_ns timestamp;
-	double ax, ay, az, wx, wy, wz;
+	timepoint_ns timestamp_ns;
+	struct xrt_vec3_f64 accel_m_s2;
+	struct xrt_vec3_f64 gyro_rad_secs;
 };
 
 /*!