diff --git a/examples/align-advanced/CMakeLists.txt b/examples/align-advanced/CMakeLists.txt
index d8e5639519..2c875c9f01 100644
--- a/examples/align-advanced/CMakeLists.txt
+++ b/examples/align-advanced/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.8)
 project(RealsenseExamplesAlignAdvanced)
 
 if(BUILD_GRAPHICAL_EXAMPLES)
-    add_executable(rs-align-advanced rs-align-advanced.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-align-advanced rs-align-advanced.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp  ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-align-advanced PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-align-advanced ${DEPENDENCIES})
     include_directories(../../common ../../third-party/imgui ../../examples)
diff --git a/examples/align-advanced/rs-align-advanced.cpp b/examples/align-advanced/rs-align-advanced.cpp
index ee09444474..702a17b0c6 100644
--- a/examples/align-advanced/rs-align-advanced.cpp
+++ b/examples/align-advanced/rs-align-advanced.cpp
@@ -9,6 +9,9 @@
 #include <fstream>
 #include <algorithm>
 #include <cstring>
+#include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include<realsense_imgui.h>
 
 void render_slider(rect location, float& clipping_dist);
 void remove_background(rs2::video_frame& other, const rs2::depth_frame& depth_frame, float depth_scale, float clipping_dist);
@@ -20,7 +23,11 @@ int main(int argc, char * argv[]) try
 {
     // Create and initialize GUI related objects
     window app(1280, 720, "RealSense Align (Advanced) Example"); // Simple window handling
-    ImGui_ImplGlfw_Init(app, false);      // ImGui library intializition
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
     rs2::colorizer c;                     // Helper to colorize depth images
     texture renderer;                     // Helper for renderig images
 
@@ -105,11 +112,18 @@ int main(int argc, char * argv[]) try
         renderer.show(pip_stream);
 
         // Using ImGui library to provide a slide controller to select the depth clipping distance
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         render_slider({ 5.f, 0, w, h }, depth_clipping_distance);
         ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
 
     }
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error & e)
@@ -154,11 +168,11 @@ void render_slider(rect location, float& clipping_dist)
 
     //Render the vertical slider
     ImGui::Begin("slider", nullptr, flags);
-    ImGui::PushStyleColor(ImGuiCol_FrameBg, ImColor(215.f / 255, 215.0f / 255, 215.0f / 255));
-    ImGui::PushStyleColor(ImGuiCol_SliderGrab, ImColor(215.f / 255, 215.0f / 255, 215.0f / 255));
-    ImGui::PushStyleColor(ImGuiCol_SliderGrabActive, ImColor(215.f / 255, 215.0f / 255, 215.0f / 255));
+    ImGui::PushStyleColor(ImGuiCol_FrameBg, ImVec4(0.2f, 0.3f, 0.7f, 1.0f));
+    ImGui::PushStyleColor(ImGuiCol_SliderGrab, { 215.f / 255, 215.0f / 255, 215.0f / 255,1 });
+    ImGui::PushStyleColor(ImGuiCol_SliderGrabActive, { 215.f / 255, 215.0f / 255, 215.0f / 255,1 });
     auto slider_size = ImVec2(slider_window_width / 2, location.h - (pixels_to_buttom_of_stream_text * 2) - 20);
-    ImGui::VSliderFloat("", slider_size, &clipping_dist, 0.0f, 6.0f, "", 1.0f, true);
+    ImGui::VSliderFloat("##vslider", slider_size, &clipping_dist, 0.0f, 6.0f," % .2f");
     if (ImGui::IsItemHovered())
         ImGui::SetTooltip("Depth Clipping Distance: %.3f", clipping_dist);
     ImGui::PopStyleColor(3);
diff --git a/examples/align-gl/CMakeLists.txt b/examples/align-gl/CMakeLists.txt
index 4c80488eb4..0b5aee0e3c 100644
--- a/examples/align-gl/CMakeLists.txt
+++ b/examples/align-gl/CMakeLists.txt
@@ -8,7 +8,7 @@ project(RealsenseExamplesAlignGl )
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 
 if(BUILD_GRAPHICAL_EXAMPLES AND NOT APPLE)
-    add_executable(rs-align-gl rs-align-gl.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-align-gl rs-align-gl.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-align-gl PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-align-gl ${DEPENDENCIES} realsense2-gl)
     include_directories(../../common ../../third-party/imgui ../../examples)
diff --git a/examples/align-gl/rs-align-gl.cpp b/examples/align-gl/rs-align-gl.cpp
index 63e4305bcf..3fd5717df7 100644
--- a/examples/align-gl/rs-align-gl.cpp
+++ b/examples/align-gl/rs-align-gl.cpp
@@ -4,7 +4,9 @@
 #include <librealsense2/rs.hpp>
 #include "example-imgui.hpp"
 #include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
-
+#include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include<realsense_imgui.h>
 
 /*
  This example introduces the concept of spatial stream alignment.
@@ -45,7 +47,11 @@ int main(int argc, char * argv[]) try
 
     // Create and initialize GUI related objects
     window app(1280, 720, "RealSense Align Example"); // Simple window handling
-    ImGui_ImplGlfw_Init(app, false);      // ImGui library intializition
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
 
     // Once we have a window, initialize GL module
     // Pass our window to enable sharing of textures between processed frames and the window
@@ -119,11 +125,17 @@ int main(int argc, char * argv[]) try
         glDisable(GL_BLEND);
 
         // Render the UI:
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir);
         ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
     }
-
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error & e)
diff --git a/examples/align/CMakeLists.txt b/examples/align/CMakeLists.txt
index dc56ad2ab2..8832f58fd3 100644
--- a/examples/align/CMakeLists.txt
+++ b/examples/align/CMakeLists.txt
@@ -5,7 +5,8 @@ cmake_minimum_required(VERSION 3.8)
 project(RealsenseExamplesAlign)
 
 if(BUILD_GRAPHICAL_EXAMPLES)
-    add_executable(rs-align rs-align.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-align rs-align.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp
+    ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-align PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-align ${DEPENDENCIES})
     include_directories(../../common ../../third-party/imgui ../../examples)
diff --git a/examples/align/rs-align.cpp b/examples/align/rs-align.cpp
index dc3a376397..f21bdc8d4f 100644
--- a/examples/align/rs-align.cpp
+++ b/examples/align/rs-align.cpp
@@ -4,6 +4,10 @@
 #include <librealsense2/rs.hpp>
 #include "example-imgui.hpp"
 
+#include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include<realsense_imgui.h>
+
 /*
  This example introduces the concept of spatial stream alignment.
  For example usecase of alignment, please check out align-advanced and measure demos.
@@ -39,7 +43,11 @@ int main(int argc, char * argv[]) try
 
     // Create and initialize GUI related objects
     window app(1280, 720, "RealSense Align Example"); // Simple window handling
-    ImGui_ImplGlfw_Init(app, false);      // ImGui library intializition
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
     rs2::colorizer c;                     // Helper to colorize depth images
     texture depth_image, color_image;     // Helpers for renderig images
 
@@ -106,11 +114,17 @@ int main(int argc, char * argv[]) try
         glDisable(GL_BLEND);
 
         // Render the UI:
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir);
         ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
     }
-
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error & e)
diff --git a/examples/example-imgui.hpp b/examples/example-imgui.hpp
index 2083f400e0..ce41ff4c82 100644
--- a/examples/example-imgui.hpp
+++ b/examples/example-imgui.hpp
@@ -50,7 +50,7 @@ class hdr_slider : public slider {
         ImGui::Begin(name_id.c_str(), nullptr, _sliders_flags);
         ImGui::Text("%s",_name);
         bool is_changed =
-            ImGui::SliderFloat("", &_value, _min_value, _max_value, "%.3f", 5.0f, false); //5.0f for logarithmic scale 
+            ImGui::SliderFloat("Slider Label", &_value, _min_value, _max_value, "%.3f", ImGuiSliderFlags_Logarithmic); //5.0f for logarithmic scale 
         if (is_changed) {
             _sensor.set_option(RS2_OPTION_SEQUENCE_ID, float(_seq_id));
             _sensor.set_option(_option, _value);
@@ -146,7 +146,7 @@ class hdr_widgets {
     void render_widgets() {
 
         //start a new frame of ImGui
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplGlfw_NewFrame();
 
         _exposure_slider_seq_2.show();
         _exposure_slider_seq_1.show();
diff --git a/examples/hdr/CMakeLists.txt b/examples/hdr/CMakeLists.txt
index 0407b3dc7a..846ed0faf8 100644
--- a/examples/hdr/CMakeLists.txt
+++ b/examples/hdr/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.8)
 project(RealsenseExamplesHdr)
 
 if(BUILD_GRAPHICAL_EXAMPLES)
-    add_executable(rs-hdr rs-hdr.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-hdr rs-hdr.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-hdr PROPERTY CXX_STANDARD 11)
     target_link_libraries( rs-hdr ${DEPENDENCIES} tclap )
     include_directories(../ ../../third-party/imgui ../../third-party/glfw/include)
diff --git a/examples/hdr/rs-hdr.cpp b/examples/hdr/rs-hdr.cpp
index f20f6b854b..f5feae61f6 100644
--- a/examples/hdr/rs-hdr.cpp
+++ b/examples/hdr/rs-hdr.cpp
@@ -5,6 +5,9 @@
 #include "example-imgui.hpp"    // Include short list of convenience functions for rendering
 #include <iostream>
 
+#include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include<realsense_imgui.h>
 
 // HDR Example demonstrates how to use the HDR feature - only for D400 product line devices
 int main() try
@@ -103,8 +106,11 @@ int main() try
     // init view window
     window app(width, height, title.c_str(), tiles_in_row, tiles_in_col);
 
-    // init ImGui with app (window object)
-    ImGui_ImplGlfw_Init(app, false);
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
 
     // init hdr_widgets object
     // hdr_widgets holds the sliders, the text boxes and the frames_map
@@ -112,6 +118,7 @@ int main() try
 
     while (app) // application is still alive
     {
+
         data = pipe.wait_for_frames();    // Wait for next set of frames from the camera
 
         auto frame = data.get_depth_frame();
@@ -143,15 +150,21 @@ int main() try
 
         //update frames in frames map in hdr_widgets
         hdr_widgets.update_frames_map(infrared_frame, depth_frame, hdr_frame, hdr_seq_id, hdr_seq_size);
-
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         //render hdr widgets sliders and text boxes
         hdr_widgets.render_widgets();
 
         //the show method, when applied on frame map, break it to frames and upload each frame into its specific tile
         app.show(hdr_widgets.get_frames_map());
-
+        ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
     }
-
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error& e)
diff --git a/examples/post-processing/CMakeLists.txt b/examples/post-processing/CMakeLists.txt
index 46c405f232..aff5e08518 100644
--- a/examples/post-processing/CMakeLists.txt
+++ b/examples/post-processing/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.8)
 project(RealsenseExamplesPost-Processing)
 
 if(BUILD_GRAPHICAL_EXAMPLES)
-    add_executable(rs-post-processing rs-post-processing.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-post-processing rs-post-processing.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-post-processing PROPERTY CXX_STANDARD 11)
     target_link_libraries( rs-post-processing ${DEPENDENCIES} tclap )
     include_directories(../ ../../third-party/imgui)
diff --git a/examples/post-processing/rs-post-processing.cpp b/examples/post-processing/rs-post-processing.cpp
index 96355e7ef1..da66acb50e 100644
--- a/examples/post-processing/rs-post-processing.cpp
+++ b/examples/post-processing/rs-post-processing.cpp
@@ -11,6 +11,9 @@
 
 #include <imgui.h>
 #include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include <realsense_imgui.h>
+
 
 /**
 Helper class for controlling the filter's GUI element
@@ -51,7 +54,11 @@ int main(int argc, char * argv[]) try
 {
     // Create a simple OpenGL window for rendering:
     window app(1280, 720, "RealSense Post Processing Example");
-    ImGui_ImplGlfw_Init(app, false);
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
 
     // Construct objects to manage view state
     glfw_state original_view_orientation{};
@@ -215,7 +222,10 @@ int main(int argc, char * argv[]) try
     // (Not the safest way to join a thread, please wrap your threads in some RAII manner)
     stopped = true;
     processing_thread.join();
-
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error & e)
@@ -251,7 +261,9 @@ void render_ui(float w, float h, std::vector<filter_options>& filters)
         | ImGuiWindowFlags_NoResize
         | ImGuiWindowFlags_NoMove;
 
-    ImGui_ImplGlfw_NewFrame(1);
+    ImGui_ImplOpenGL3_NewFrame();
+    ImGui_ImplGlfw_NewFrame();
+    ImGui::NewFrame();
     ImGui::SetNextWindowSize({ w, h });
     ImGui::Begin("app", nullptr, flags);
 
@@ -288,6 +300,7 @@ void render_ui(float w, float h, std::vector<filter_options>& filters)
 
     ImGui::End();
     ImGui::Render();
+    ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
 }
 
 bool filter_slider_ui::render(const float3& location, bool enabled)
diff --git a/examples/record-playback/CMakeLists.txt b/examples/record-playback/CMakeLists.txt
index 36865ca426..9fb4ade713 100644
--- a/examples/record-playback/CMakeLists.txt
+++ b/examples/record-playback/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.8)
 project(RealsenseExamplesRecord-Playback)
 
 if(BUILD_GRAPHICAL_EXAMPLES)
-    add_executable(rs-record-playback rs-record-playback.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    add_executable(rs-record-playback rs-record-playback.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp ../../third-party/imgui/realsense_imgui.cpp ../../third-party/imgui/imgui_impl_opengl3.cpp ../../third-party/imgui/imgui_widgets.cpp ../../third-party/imgui/imgui_tables.cpp)
     set_property(TARGET rs-record-playback PROPERTY CXX_STANDARD 11)
     target_link_libraries( rs-record-playback ${DEPENDENCIES} tclap )
     include_directories(../ ../../third-party/imgui)
diff --git a/examples/record-playback/rs-record-playback.cpp b/examples/record-playback/rs-record-playback.cpp
index 7736fad1ab..314de96e18 100644
--- a/examples/record-playback/rs-record-playback.cpp
+++ b/examples/record-playback/rs-record-playback.cpp
@@ -7,6 +7,9 @@
 
 #include <imgui.h>
 #include "imgui_impl_glfw.h"
+#include "imgui_impl_glfw.h"
+#include <imgui_impl_opengl3.h>
+#include<realsense_imgui.h>
 
 // Includes for time display
 #include <sstream>
@@ -23,7 +26,11 @@ int main(int argc, char * argv[]) try
 {
     // Create a simple OpenGL window for rendering:
     window app(1280, 720, "RealSense Record and Playback Example");
-    ImGui_ImplGlfw_Init(app, false);
+    // Setup Dear ImGui context
+    ImGui::CreateContext();
+    // Setup Platform/Renderer backends
+    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplOpenGL3_Init();
 
     // Create booleans to control GUI (recorded - allow play button, recording - show 'recording to file' text)
     bool recorded = false;
@@ -61,7 +68,9 @@ int main(int argc, char * argv[]) try
             | ImGuiWindowFlags_NoResize
             | ImGuiWindowFlags_NoMove;
 
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         ImGui::SetNextWindowSize({ app.width(), app.height() });
         ImGui::Begin("app", nullptr, flags);
 
@@ -192,10 +201,15 @@ int main(int argc, char * argv[]) try
 
         ImGui::End();
         ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
 
         // Render depth frames from the default configuration, the recorder or the playback
         depth_image.render(depth, { app.width() * 0.25f, app.height() * 0.25f, app.width() * 0.5f, app.height() * 0.75f  });
     }
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     return EXIT_SUCCESS;
 }
 catch (const rs2::error & e)
diff --git a/tools/depth-quality/CMakeLists.txt b/tools/depth-quality/CMakeLists.txt
index 82c9678d41..e89a1a1b31 100644
--- a/tools/depth-quality/CMakeLists.txt
+++ b/tools/depth-quality/CMakeLists.txt
@@ -37,6 +37,10 @@ if(BUILD_GRAPHICAL_EXAMPLES)
         ../../third-party/imgui/imgui.cpp
         ../../third-party/imgui/imgui_draw.cpp
         ../../third-party/imgui/imgui_impl_glfw.cpp
+        ../../third-party/imgui/imgui_impl_opengl3.cpp
+        ../../third-party/imgui/imgui_widgets.cpp
+        ../../third-party/imgui/imgui_tables.cpp
+        ../../third-party/imgui/realsense_imgui.cpp 
         ../../third-party/imgui/imgui-fonts-karla.hpp
         ../../third-party/imgui/imgui-fonts-fontawesome.hpp
         ../../third-party/glad/glad.c
@@ -64,6 +68,7 @@ if(BUILD_GRAPHICAL_EXAMPLES)
             ../../third-party/imgui/imgui.cpp
             ../../third-party/imgui/imgui_draw.cpp
             ../../third-party/imgui/imgui_impl_glfw.cpp
+            ../../third-party/imgui/imgui_impl_opengl3.cpp
             ../../third-party/imgui/imgui-fonts-karla.hpp
             ../../third-party/imgui/imgui-fonts-fontawesome.hpp)
 
diff --git a/tools/depth-quality/depth-quality-model.cpp b/tools/depth-quality/depth-quality-model.cpp
index db65524c1b..cbb46ee730 100644
--- a/tools/depth-quality/depth-quality-model.cpp
+++ b/tools/depth-quality/depth-quality-model.cpp
@@ -477,7 +477,7 @@ namespace rs2
             // Creating window menus
             // *********************
             ImGui::Begin("Control Panel", nullptr, viewer_ui_traits::imgui_flags | ImGuiWindowFlags_AlwaysVerticalScrollbar);
-            ImGui::SetContentRegionWidth(_viewer_model.panel_width - 26);
+            ImGui::SetNextWindowSize({ _viewer_model.panel_width - 26,_viewer_model.panel_y });
 
             if (_device_model.get())
             {
@@ -512,7 +512,7 @@ namespace rs2
                 {
                     update_configuration();
                 }
-                ImGui::SetContentRegionWidth(windows_width);
+                ImGui::SetNextWindowSize(ImVec2(windows_width, ImGui::GetContentRegionMax().y));
                 auto pos = ImGui::GetCursorScreenPos();
 
                 for (auto&& lambda : draw_later)
diff --git a/tools/rosbag-inspector/CMakeLists.txt b/tools/rosbag-inspector/CMakeLists.txt
index 4532b873e3..9cb831c254 100644
--- a/tools/rosbag-inspector/CMakeLists.txt
+++ b/tools/rosbag-inspector/CMakeLists.txt
@@ -18,6 +18,10 @@ if(BUILD_GRAPHICAL_EXAMPLES)
             ../../third-party/imgui/imgui.cpp
             ../../third-party/imgui/imgui_draw.cpp
             ../../third-party/imgui/imgui_impl_glfw.cpp
+            ../../third-party/imgui/imgui_impl_opengl3.cpp
+            ../../third-party/imgui/imgui_widgets.cpp
+            ../../third-party/imgui/imgui_tables.cpp
+            ../../third-party/imgui/realsense_imgui.cpp
             ../../third-party/imgui/imgui-fonts-karla.hpp
             ../../third-party/imgui/imgui-fonts-fontawesome.hpp
             ../../third-party/tinyfiledialogs/tinyfiledialogs.c
diff --git a/tools/rosbag-inspector/rs-rosbag-inspector.cpp b/tools/rosbag-inspector/rs-rosbag-inspector.cpp
index 584bebf97a..0550ebbe78 100644
--- a/tools/rosbag-inspector/rs-rosbag-inspector.cpp
+++ b/tools/rosbag-inspector/rs-rosbag-inspector.cpp
@@ -25,6 +25,7 @@
 #include <GLFW/glfw3.h>
 #include <imgui.h>
 #include <imgui_impl_glfw.h>
+#include "imgui_impl_opengl3.h"
 #include <imgui_internal.h>
 #ifdef _MSC_VER
 #ifndef NOMINMAX
@@ -59,6 +60,7 @@ class gui_window
         if (!_first_frame)
         {
             ImGui::Render();
+            ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
             glfwSwapBuffers(_window);
         }
         bool res = !glfwWindowShouldClose(_window);
@@ -67,7 +69,9 @@ class gui_window
         glfwGetWindowSize(_window, &_w, &_h);
         glMatrixMode(GL_PROJECTION);
         glLoadIdentity();
-        ImGui_ImplGlfw_NewFrame(1);
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
         _first_frame = false;
         return res;
     }
@@ -96,7 +100,9 @@ class gui_window
             f->AddFiles(std::vector<std::string>(paths, paths + count));
         });
 
-        ImGui_ImplGlfw_Init(_window, true);
+        ImGui::CreateContext();
+        ImGui_ImplGlfw_InitForOpenGL(_window, true);
+        ImGui_ImplOpenGL3_Init();
 
         glfwSetScrollCallback(_window, [](GLFWwindow * w, double xoffset, double yoffset)
         {
@@ -414,7 +420,7 @@ int main(int argc, const char** argv) try
         int flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoSavedSettings;
 
         static bool open = true;
-        ImGui::SetNextWindowSize({ float(window.width()), float(window.height()) }, flags | ImGuiSetCond_FirstUseEver);
+        ImGui::SetNextWindowSize({ float(window.width()), float(window.height()) }, ImGuiCond_FirstUseEver);
         if (ImGui::Begin("Rosbag Inspector", nullptr, flags | ImGuiWindowFlags_MenuBar))
         {
             draw_menu_bar();
@@ -432,8 +438,10 @@ int main(int argc, const char** argv) try
         ImGui::PopStyleColor(10);
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
-
+    // Cleanup
+    ImGui_ImplOpenGL3_Shutdown();
     ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
     glfwTerminate();
     return 0;
 }