diff --git a/src/xrt/drivers/depthai/depthai_driver.cpp b/src/xrt/drivers/depthai/depthai_driver.cpp
index b89831e16..686e7a82a 100644
--- a/src/xrt/drivers/depthai/depthai_driver.cpp
+++ b/src/xrt/drivers/depthai/depthai_driver.cpp
@@ -894,11 +894,11 @@ depthai_fs_slam_stream_start(struct xrt_fs *xfs, struct xrt_slam_sinks *sinks)
 	struct depthai_fs *depthai = depthai_fs(xfs);
 	DEPTHAI_DEBUG(depthai, "DepthAI: SLAM stream start called");
 
-	depthai->sink[0] = nullptr;      // 0 == CamA-4L / RGB
-	depthai->sink[1] = sinks->left;  // 1 == CamB-2L / Left Gray
-	depthai->sink[2] = sinks->right; // 2 == CamC-2L / Right Gray
-	depthai->sink[3] = nullptr;      // 3 == CamD-4L
-	if (depthai->want_cameras && sinks->left != NULL && sinks->right != NULL) {
+	depthai->sink[0] = nullptr;        // 0 == CamA-4L / RGB
+	depthai->sink[1] = sinks->cams[0]; // 1 == CamB-2L / Left Gray
+	depthai->sink[2] = sinks->cams[1]; // 2 == CamC-2L / Right Gray
+	depthai->sink[3] = nullptr;        // 3 == CamD-4L
+	if (depthai->want_cameras && sinks->cams[0] != NULL && sinks->cams[1] != NULL) {
 		os_thread_helper_start(&depthai->image_thread, depthai_mainloop, depthai);
 	}
 	if (depthai->want_imu && sinks->imu != NULL) {
diff --git a/src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c b/src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
index 0f37a2979..0e6b457b9 100644
--- a/src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
+++ b/src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
@@ -94,10 +94,10 @@ gui_scene_hand_tracking_demo(struct gui_program *p)
 	struct xrt_slam_sinks gen_lock = {0};
 	u_sink_force_genlock_create( //
 	    &usysd->xfctx,           //
-	    hand_sinks->left,        //
-	    hand_sinks->right,       //
-	    &gen_lock.left,          //
-	    &gen_lock.right);        //
+	    hand_sinks->cams[0],     //
+	    hand_sinks->cams[1],     //
+	    &gen_lock.cams[0],       //
+	    &gen_lock.cams[1]);      //
 
 	xrt_fs_slam_stream_start(the_fs, &gen_lock);
 
diff --git a/src/xrt/state_trackers/gui/gui_scene_record.c b/src/xrt/state_trackers/gui/gui_scene_record.c
index a1c300707..f5c71fc0a 100644
--- a/src/xrt/state_trackers/gui/gui_scene_record.c
+++ b/src/xrt/state_trackers/gui/gui_scene_record.c
@@ -224,7 +224,7 @@ create_depthai_stereo(struct camera_window *cw)
 	struct xrt_frame_sink *tmp = &cw->base.sink;
 
 	struct xrt_slam_sinks sinks;
-	u_sink_combiner_create(&cw->camera.xfctx, tmp, &sinks.left, &sinks.right);
+	u_sink_combiner_create(&cw->camera.xfctx, tmp, &sinks.cams[0], &sinks.cams[1]);
 
 	// Now that we have setup a node graph, start it.
 	xrt_fs_slam_stream_start(cw->camera.xfs, &sinks);
diff --git a/src/xrt/targets/common/target_builder_north_star.c b/src/xrt/targets/common/target_builder_north_star.c
index 6d48b8c70..16438ea0e 100644
--- a/src/xrt/targets/common/target_builder_north_star.c
+++ b/src/xrt/targets/common/target_builder_north_star.c
@@ -313,16 +313,16 @@ ns_setup_depthai_device(struct ns_builder *nsb,
 	struct xrt_frame_sink *entry_right_sink = NULL;
 
 #ifdef XRT_BUILD_DRIVER_HANDTRACKING
-	u_sink_split_create(&usysd->xfctx, slam_sinks->left, hand_sinks->left, &entry_left_sink);
-	u_sink_split_create(&usysd->xfctx, slam_sinks->right, hand_sinks->right, &entry_right_sink);
+	u_sink_split_create(&usysd->xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink);
+	u_sink_split_create(&usysd->xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink);
 #else
-	entry_left_sink = slam_sinks->left;
-	entry_right_sink = slam_sinks->right;
+	entry_left_sink = slam_sinks->cams[0];
+	entry_right_sink = slam_sinks->cams[1];
 #endif
 
 	entry_sinks = (struct xrt_slam_sinks){
-	    .left = entry_left_sink,
-	    .right = entry_right_sink,
+	    .cams[0] = entry_left_sink,
+	    .cams[1] = entry_right_sink,
 	    .imu = slam_sinks->imu,
 	    .gt = slam_sinks->gt,
 	};
@@ -330,8 +330,8 @@ ns_setup_depthai_device(struct ns_builder *nsb,
 	struct xrt_slam_sinks dummy_slam_sinks = {0};
 	dummy_slam_sinks.imu = entry_sinks.imu;
 
-	u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.left, entry_sinks.right, &dummy_slam_sinks.left,
-	                            &dummy_slam_sinks.right);
+	u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.cams[0], entry_sinks.cams[1], &dummy_slam_sinks.cams[0],
+	                            &dummy_slam_sinks.cams[1]);
 
 	xrt_fs_slam_stream_start(the_fs, &dummy_slam_sinks);