diff --git a/src/xrt/drivers/rift_s/rift_s_tracker.c b/src/xrt/drivers/rift_s/rift_s_tracker.c
index 51d504b9b..7b9fcd735 100644
--- a/src/xrt/drivers/rift_s/rift_s_tracker.c
+++ b/src/xrt/drivers/rift_s/rift_s_tracker.c
@@ -232,6 +232,7 @@ rift_s_create_slam_tracker(struct rift_s_tracker *t, struct xrt_frame_context *x
 static int
 rift_s_create_hand_tracker(struct rift_s_tracker *t,
                            struct xrt_frame_context *xfctx,
+                           struct xrt_hand_masks_sink *masks_sink,
                            struct xrt_slam_sinks **out_sinks,
                            struct xrt_device **out_device)
 {
@@ -252,8 +253,7 @@ rift_s_create_hand_tracker(struct rift_s_tracker *t,
 	extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_90;
 	extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_90;
 
-	// TODO@mateosss: Use proper masks_sink in all drivers and not null
-	struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
+	struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = masks_sink};
 
 	int create_status = ht_device_create(xfctx,           //
 	                                     t->stereo_calib, //
@@ -404,8 +404,9 @@ rift_s_tracker_create(struct xrt_tracking_origin *origin,
 	// Initialize hand tracker
 	struct xrt_slam_sinks *hand_sinks = NULL;
 	struct xrt_device *hand_device = NULL;
+	struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
 	if (t->tracking.hand_enabled) {
-		int hand_status = rift_s_create_hand_tracker(t, xfctx, &hand_sinks, &hand_device);
+		int hand_status = rift_s_create_hand_tracker(t, xfctx, masks_sink, &hand_sinks, &hand_device);
 		if (hand_status != 0 || hand_sinks == NULL || hand_device == NULL) {
 			RIFT_S_WARN("Unable to setup the hand tracker");
 			rift_s_tracker_destroy(t);
diff --git a/src/xrt/targets/common/target_builder_lighthouse.c b/src/xrt/targets/common/target_builder_lighthouse.c
index fb522230d..8b456675a 100644
--- a/src/xrt/targets/common/target_builder_lighthouse.c
+++ b/src/xrt/targets/common/target_builder_lighthouse.c
@@ -201,6 +201,7 @@ valve_index_hand_track(struct lighthouse_system *lhs,
                        struct xrt_frame_context *xfctx,
                        struct xrt_pose head_in_left_cam,
                        struct t_stereo_camera_calibration *stereo_calib,
+                       struct xrt_hand_masks_sink *masks_sink,
                        struct xrt_slam_sinks **out_sinks,
                        struct xrt_device **out_devices)
 {
@@ -233,7 +234,7 @@ valve_index_hand_track(struct lighthouse_system *lhs,
 	info.views[0].boundary.circle.normalized_radius = 0.55;
 	info.views[1].boundary.circle.normalized_radius = 0.55;
 
-	struct t_hand_tracking_create_info create_info = {.cams_info = info, .masks_sink = NULL};
+	struct t_hand_tracking_create_info create_info = {.cams_info = info, .masks_sink = masks_sink};
 
 	struct xrt_device *ht_device = NULL;
 	int create_status = ht_device_create( //
@@ -384,6 +385,7 @@ valve_index_setup_visual_trackers(struct lighthouse_system *lhs,
 	// Initialize hand tracker
 	struct xrt_slam_sinks *hand_sinks = NULL;
 	struct xrt_device *hand_devices[2] = {NULL};
+	struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
 	if (hand_enabled) {
 		bool success = valve_index_hand_track( //
 		    lhs,                               //
@@ -391,6 +393,7 @@ valve_index_setup_visual_trackers(struct lighthouse_system *lhs,
 		    xfctx,                             //
 		    head_in_left_cam,                  //
 		    stereo_calib,                      //
+		    masks_sink,                        //
 		    &hand_sinks,                       //
 		    hand_devices);                     //
 		if (!success) {
diff --git a/src/xrt/targets/common/target_builder_north_star.c b/src/xrt/targets/common/target_builder_north_star.c
index 7ea4c4aa4..b4addeff3 100644
--- a/src/xrt/targets/common/target_builder_north_star.c
+++ b/src/xrt/targets/common/target_builder_north_star.c
@@ -295,8 +295,20 @@ ns_setup_depthai_device(struct ns_builder *nsb,
 	depthai_fs_get_stereo_calibration(the_fs, &calib);
 
 
+	struct xrt_slam_sinks *slam_sinks = NULL;
+	xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
+	if (xret != XRT_SUCCESS) {
+		U_LOG_E("twrap_slam_create_device: %u", xret);
+		return xret;
+	}
+	if (slam_sinks == NULL) {
+		U_LOG_E("twrap_slam_create_device: Returned NULL slam_sinks!");
+		return XRT_ERROR_DEVICE_CREATION_FAILED;
+	}
+
 #ifdef XRT_BUILD_DRIVER_HANDTRACKING
 	struct xrt_slam_sinks *hand_sinks = NULL;
+	struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
 
 	struct t_camera_extra_info extra_camera_info = {0};
 
@@ -311,7 +323,7 @@ ns_setup_depthai_device(struct ns_builder *nsb,
 	extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
 	extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
 
-	struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
+	struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = masks_sink};
 
 	int create_status = ht_device_create( //
 	    xfctx,                            //
@@ -325,17 +337,6 @@ ns_setup_depthai_device(struct ns_builder *nsb,
 	}
 #endif
 
-	struct xrt_slam_sinks *slam_sinks = NULL;
-	xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
-	if (xret != XRT_SUCCESS) {
-		U_LOG_E("twrap_slam_create_device: %u", xret);
-		return xret;
-	}
-	if (slam_sinks == NULL) {
-		U_LOG_E("twrap_slam_create_device: Returned NULL slam_sinks!");
-		return XRT_ERROR_DEVICE_CREATION_FAILED;
-	}
-
 	struct xrt_slam_sinks entry_sinks = {0};
 	struct xrt_frame_sink *entry_left_sink = NULL;
 	struct xrt_frame_sink *entry_right_sink = NULL;