diff --git a/common/device-model.cpp b/common/device-model.cpp
index 6136689dec0..d05cf22c771 100644
--- a/common/device-model.cpp
+++ b/common/device-model.cpp
@@ -922,8 +922,8 @@ namespace rs2
         }
         if (ImGui::IsItemHovered())
         {
-            ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
             ImGui::PushStyleColor(ImGuiCol_Text, white);
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
             ImGui::SetTooltip("%s", show_device_info ? "Hide Device Details" : "Show Device Details");
             window.link_hovered();
             ImGui::PopStyleColor(2);
@@ -1261,8 +1261,8 @@ namespace rs2
         }
         if (ImGui::IsItemHovered())
         {
-            ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
             ImGui::PushStyleColor(ImGuiCol_Text, white);
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
             std::string record_button_hover_text = get_record_button_hover_text(is_streaming);
             ImGui::SetTooltip("%s", record_button_hover_text.c_str());
             if (is_streaming) window.link_hovered();
@@ -1281,16 +1281,15 @@ namespace rs2
         auto sync_button_color = is_sync_enabled ? light_blue : light_grey;
         ImGui::PushStyleColor(ImGuiCol_Text, sync_button_color);
         ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, sync_button_color);
-        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(0.5f, 0.5f, 0.5f, 1.f));
         if (ImGui::ButtonEx(sync_button_name.c_str(), device_panel_icons_size, ImGuiItemFlags_Disabled))
         {
             is_sync_enabled = !is_sync_enabled;
         }
-        ImGui::PopStyleColor(3);
+        ImGui::PopStyleColor(2);
         if (ImGui::IsItemHovered())
         {
-            ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
             ImGui::PushStyleColor(ImGuiCol_Text, white);
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
             ImGui::SetTooltip("%s", is_sync_enabled ? "Disable streams synchronization" : "Enable streams synchronization");
             ImGui::PopStyleColor(2);
         }
@@ -1312,8 +1311,8 @@ namespace rs2
         }
         if (ImGui::IsItemHovered())
         {
-            ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
             ImGui::PushStyleColor(ImGuiCol_Text, white);
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
             ImGui::SetTooltip("%s", "Click for more");
             window.link_hovered();
             ImGui::PopStyleColor(2);
@@ -1372,8 +1371,8 @@ namespace rs2
                     }
                     if (ImGui::IsItemHovered())
                     {
-                        ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
                         ImGui::PushStyleColor(ImGuiCol_Text, white);
+                        ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                         std::string tooltip = rsutils::string::from()
                                            << "Install official signed firmware from file to the device"
                                            << ( is_streaming ? " (Disabled while streaming)" : "" );
@@ -1401,8 +1400,8 @@ namespace rs2
 
                     if (ImGui::IsItemHovered())
                     {
-                        ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
                         ImGui::PushStyleColor(ImGuiCol_Text, white);
+                        ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                         std::string tooltip = rsutils::string::from() << "Check for SW / FW updates";
                         ImGui::SetTooltip("%s", tooltip.c_str());
                         ImGui::PopStyleColor(2);
@@ -1426,8 +1425,8 @@ namespace rs2
                         }
                         if (ImGui::IsItemHovered())
                         {
-                            ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
                             ImGui::PushStyleColor(ImGuiCol_Text, white);
+                            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                             std::string tooltip = rsutils::string::from()
                                                << "Install non official unsigned firmware from file to the device"
                                                << ( is_streaming ? " (Disabled while streaming)" : "" );
@@ -2318,7 +2317,7 @@ namespace rs2
 
             if (ImGui::IsItemHovered())
             {
-                ImGui::PushStyleColor(ImGuiCol_PopupBg, black);
+                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                 ImGui::PushStyleColor(ImGuiCol_Text, white);
                 ImGui::SetTooltip("Remove selected device from current view\n(can be restored by clicking Add Source)");
                 window.link_hovered();
@@ -2439,7 +2438,7 @@ namespace rs2
         ImGui::PopStyleColor(2);
 
         auto sensor_top_y = ImGui::GetCursorPosY();
-        ImGui::SetNextWindowContentSize(ImVec2(ImGui::GetWindowWidth() - 36, ImGui::GetWindowHeight()));
+        ImGui::SetWindowSize(ImVec2(windows_width -36, 0.0f));
 
         ImGui::PushStyleColor(ImGuiCol_HeaderHovered, sensor_bg);
         ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
@@ -2467,7 +2466,7 @@ namespace rs2
                     ImGui_ScopePushStyleColor(ImGuiCol_Button, sensor_bg);
                     ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, sensor_bg);
                     ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, sensor_bg);
-
+                    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
                     int font_size = window.get_font_size();
                     ImVec2 button_size = { font_size * 3.0f, font_size * 1.0f };
                     
@@ -2498,15 +2497,21 @@ namespace rs2
                                 {
                                     if (ImGui::IsItemHovered())
                                     {
+                                        ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                        ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                                         // ImGui::SetTooltip("Selected configuration (FPS, Resolution) is not supported");
                                         ImGui::SetTooltip("Selected value is not supported");
+                                        ImGui::PopStyleColor(2);
                                     }
                                 }
                                 else
                                 {
                                     if (ImGui::IsItemHovered())
                                     {
+                                        ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                        ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                                         ImGui::SetTooltip("No stream selected");
+                                        ImGui::PopStyleColor(2);
                                     }
                                 }
                             }
@@ -2548,8 +2553,11 @@ namespace rs2
                             }
                             if (ImGui::IsItemHovered())
                             {
+                                ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                                 window.link_hovered();
-                                ImGui::SizedToolTip("Start streaming data from this sensor");
+                                ImGui::SetTooltip("Start streaming data from this sensor");
+                                ImGui::PopStyleColor(2);
                             }
                         }
                     }
@@ -2583,8 +2591,11 @@ namespace rs2
                         }
                         if (ImGui::IsItemHovered())
                         {
+                            ImGui::PushStyleColor(ImGuiCol_Text, white);
+                            ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                             window.link_hovered();
-                            ImGui::SizedToolTip("Stop streaming data from selected sub-device");;
+                            ImGui::SetTooltip("Stop streaming data from selected sub-device");
+                            ImGui::PopStyleColor(2);
                         }
                     }
 
@@ -2604,6 +2615,7 @@ namespace rs2
                             }
                         }
                     }
+                    ImGui::PopStyleVar();
                 });
             }
 
@@ -2618,7 +2630,7 @@ namespace rs2
             ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 10, 10 });
             ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, { 0, 0 });
             ImGuiTreeNodeFlags flags{};
-            ImGui::AlignTextToFramePadding();
+            ImGui::AlignTextToFramePadding();//Ensures that text aligns visually with UI elements that have padding (for the TreeNode visual alignment)
             if (show_depth_only) flags = ImGuiTreeNodeFlags_DefaultOpen;
             if (ImGui::TreeNodeEx(label.c_str(), flags))
             {
@@ -2767,8 +2779,11 @@ namespace rs2
                                 }
                                 if (ImGui::IsItemHovered())
                                 {
-                                    ImGui::SizedToolTip("Enable post-processing filters");
+                                    ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                    ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
+                                    ImGui::SetTooltip("Enable post-processing filters");
                                     window.link_hovered();
+                                    ImGui::PopStyleColor(2);
                                 }
                             }
                             else
@@ -2794,8 +2809,11 @@ namespace rs2
                                 }
                                 if (ImGui::IsItemHovered())
                                 {
-                                    ImGui::SizedToolTip("Disable post-processing filters");
+                                    ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                    ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
+                                    ImGui::SetTooltip("Disable post-processing filters");
                                     window.link_hovered();
+                                    ImGui::PopStyleColor(2);
                                 }
                             }
                             ImGui::PopStyleColor(5);
@@ -2876,9 +2894,12 @@ namespace rs2
                                             }
                                             if (ImGui::IsItemHovered())
                                             {
+                                                ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                                                 label = rsutils::string::from() << "Enable " << pb->get_name() << " post-processing filter";
-                                                ImGui::SizedToolTip(label.c_str());
+                                                ImGui::SetTooltip(label.c_str());
                                                 window.link_hovered();
+                                                ImGui::PopStyleColor(2);
                                             }
                                         }
                                         else
@@ -2897,10 +2918,13 @@ namespace rs2
                                             }
                                             if (ImGui::IsItemHovered())
                                             {
+                                                ImGui::PushStyleColor(ImGuiCol_Text, white);
+                                                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                                                 label = rsutils::string::from()
                                                      << "Disable " << pb->get_name() << " post-processing filter";
-                                                ImGui::SizedToolTip(label.c_str());
+                                                ImGui::SetTooltip(label.c_str());
                                                 window.link_hovered();
+                                                ImGui::PopStyleColor(2);
                                             }
                                         }
                                     }
diff --git a/common/option-model.cpp b/common/option-model.cpp
index 52bf7a2e3a8..6a3b6ee9ed6 100644
--- a/common/option-model.cpp
+++ b/common/option-model.cpp
@@ -266,7 +266,6 @@ bool option_model::draw_combobox( notifications_model & model,
 
     try
     {
-       ImGui::PushItemWidth(combo_width); // Set the width for the combo box itself
         if( ImGui::CustomComboBox( id.c_str(), &selected, labels.data(), static_cast< int >( labels.size() ) ) )
         {
             float tmp_value = range.min + range.step * selected;
@@ -277,7 +276,6 @@ bool option_model::draw_combobox( notifications_model & model,
                 *invalidate_flag = true;
             item_clicked = true;
         }
-        ImGui::PopItemWidth();
     }
     catch( const error & e )
     {
diff --git a/common/stream-model.cpp b/common/stream-model.cpp
index 09e31f8573b..4281bfe3d4a 100644
--- a/common/stream-model.cpp
+++ b/common/stream-model.cpp
@@ -367,7 +367,7 @@ namespace rs2
     bool draw_combo_box(const std::string& id, const std::vector<std::string>& device_names, int& new_index)
     {
         std::vector<const char*>  device_names_chars = get_string_pointers(device_names);
-        return ImGui::Combo(id.c_str(), &new_index, device_names_chars.data(), static_cast<int>(device_names.size()));
+        return ImGui::CustomComboBox(id.c_str(), &new_index, device_names_chars.data(), static_cast<int>(device_names.size()));
     }
 
     void stream_model::show_stream_header(ImFont* font, const rect &stream_rect, viewer_model& viewer)
diff --git a/common/updates-model.cpp b/common/updates-model.cpp
index 340bfcb41b1..c8b94b40986 100644
--- a/common/updates-model.cpp
+++ b/common/updates-model.cpp
@@ -41,7 +41,7 @@ void updates_model::draw(std::shared_ptr<notifications_model> not_model, ux_wind
     ImGui::SetNextWindowSize({ positions.w, positions.h });
 
     auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoTitleBar |
-        ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings ;
+        ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoScrollbar;
 
     ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
     ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
@@ -144,6 +144,8 @@ void updates_model::draw(std::shared_ptr<notifications_model> not_model, ux_wind
         ImGui::SetCursorPos({ positions.w - 145, positions.h - 25 });
 
         auto enabled = ignore || no_update_needed;
+        ImGui::PushStyleColor(ImGuiCol_Border, black); 
+        ImGui::PushStyleVar(ImGuiStyleVar_FrameBorderSize, 0.5f);
         if (enabled)
         {
             if (_fw_update_state != fw_update_states::started)
@@ -180,12 +182,16 @@ void updates_model::draw(std::shared_ptr<notifications_model> not_model, ux_wind
             }
             if (ImGui::IsItemHovered())
             {
+                ImGui::PushStyleColor(ImGuiCol_Text, white);
+                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                 ImGui::SetTooltip("To close this window you must install all essential update\n"
                     "or agree to the warning of closing without it");
-
+                ImGui::PopStyleColor(2);
             }
             ImGui::PopStyleColor(2);
         }
+        ImGui::PopStyleVar();
+        ImGui::PopStyleColor();
         ImGui::EndPopup();
     }
     ImGui::PopStyleColor(3);
@@ -438,9 +444,11 @@ bool updates_model::draw_software_section(const char * window_name, update_profi
 
             if (ImGui::IsItemHovered())
             {
+                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
                 std::string tooltip = "This will redirect you to download the selected software from:\n" + selected_software_update.download_link;
                 ImGui::SetTooltip("%s", tooltip.c_str());
                 window.link_hovered();
+                ImGui::PopStyleColor();
             }
 
             ImGui::PopStyleColor(3);
diff --git a/common/ux-window.cpp b/common/ux-window.cpp
index 9de8956f57f..538dae69f26 100644
--- a/common/ux-window.cpp
+++ b/common/ux-window.cpp
@@ -380,7 +380,7 @@ namespace rs2
         ImGuiIO& io = ImGui::GetIO();
         io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;     // Enable Keyboard Controls
         io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange;   // added in order to prevents cursor chang when interacting with other element (when nedded remove the flag accordingly)
-        ImGui_ImplGlfw_InitForOpenGL(_win, false);
+        ImGui_ImplGlfw_InitForOpenGL(_win, true);
         ImGui_ImplOpenGL3_Init();
 
         if (_use_glsl_render)
@@ -395,19 +395,21 @@ namespace rs2
 
         glfwSetCursorPosCallback(_win, [](GLFWwindow* w, double cx, double cy)
         {
+            ImGui_ImplGlfw_CursorPosCallback(w, cx, cy); // Forward the cursor position to ImGui
             auto data = reinterpret_cast<ux_window*>(glfwGetWindowUserPointer(w));
             data->_mouse.cursor = { (float)cx / data->_scale_factor,
                 (float)cy / data->_scale_factor };
         });
         glfwSetMouseButtonCallback(_win, [](GLFWwindow* w, int button, int action, int mods)
         {
-            ImGui_ImplGlfw_MouseButtonCallback(w, button, action, mods);
+            ImGui_ImplGlfw_MouseButtonCallback(w, button, action, mods);// Forward the event to ImGui's GLFW implementation
             auto data = reinterpret_cast<ux_window*>(glfwGetWindowUserPointer(w));
             data->_mouse.mouse_down[0] = (button == GLFW_MOUSE_BUTTON_1) && (action != GLFW_RELEASE);
             data->_mouse.mouse_down[1] = (button == GLFW_MOUSE_BUTTON_2) && (action != GLFW_RELEASE);
         });
         glfwSetScrollCallback(_win, [](GLFWwindow * w, double xoffset, double yoffset)
         {
+            ImGui_ImplGlfw_ScrollCallback(w, xoffset, yoffset); // Forwards scroll events to ImGui
             auto data = reinterpret_cast<ux_window*>(glfwGetWindowUserPointer(w));
             data->_mouse.mouse_wheel = static_cast<int>(yoffset);
             data->_mouse.ui_wheel += static_cast<int>(yoffset);
@@ -425,6 +427,8 @@ namespace rs2
             }
         });
 
+        glfwSetKeyCallback(_win, ImGui_ImplGlfw_KeyCallback);
+
         rs2::gl::init_rendering(_use_glsl_render);
         if (_use_glsl_proc) rs2::gl::init_processing(_win, _use_glsl_proc);
 
diff --git a/common/viewer.cpp b/common/viewer.cpp
index f8c98fcc402..f8fb2c1070e 100644
--- a/common/viewer.cpp
+++ b/common/viewer.cpp
@@ -304,11 +304,14 @@ namespace rs2
         ImGui::PopFont();
         hovered = hovered || ImGui::IsItemHovered();
 
+        ImGui::PushStyleColor(ImGuiCol_Text,white);
+        ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
         if (hovered)
         {
             win.link_hovered();
             ImGui::SetTooltip("%s", description);
         }
+        ImGui::PopStyleColor(2);
 
         if (clicked && !disabled)
         {
@@ -2406,7 +2409,7 @@ namespace rs2
             ImGui::SetNextWindowSize({ w, h });
 
             flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
-            ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;
+            ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoScrollbar;
 
             ImGui_ScopePushFont(window.get_font());
             ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
@@ -2473,7 +2476,9 @@ namespace rs2
 
                 ImGui::SetCursorScreenPos({ (float)(x0 + 15), (float)(y0 + 65) });
                 ImGui::Separator();
-
+                ImGui::PushStyleColor(ImGuiCol_Text, white);
+                ImGui::PushStyleColor(ImGuiCol_PopupBg, dark_window_background);
+                ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
                 if (tab == 0)
                 {
                     int recording_setting = temp_cfg.get(configurations::record::file_save_mode);
@@ -2929,7 +2934,8 @@ namespace rs2
                 {
                     ImGui::SetTooltip("%s", "Close window without saving any changes to the settings");
                 }
-
+                ImGui::PopStyleColor(2);
+                ImGui::PopStyleVar();
                 ImGui::EndPopup();
             }
 
@@ -2952,7 +2958,7 @@ namespace rs2
             ImGui::SetNextWindowSize({ w, h });
 
             flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
-            ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;
+            ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoScrollbar;
 
             ImGui_ScopePushFont(window.get_font());
             ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
diff --git a/examples/align-advanced/rs-align-advanced.cpp b/examples/align-advanced/rs-align-advanced.cpp
index 7e577a0598c..ba2765ecc60 100644
--- a/examples/align-advanced/rs-align-advanced.cpp
+++ b/examples/align-advanced/rs-align-advanced.cpp
@@ -30,7 +30,7 @@ int main(int argc, char * argv[]) try
     // Setup Dear ImGui context
     ImGui::CreateContext();
     // Setup Platform/Renderer backends
-    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplGlfw_InitForOpenGL(app, false);
     ImGui_ImplOpenGL3_Init();
     rs2::colorizer c;                     // Helper to colorize depth images
     texture renderer;                     // Helper for renderig images
@@ -175,11 +175,12 @@ void render_slider(rect location, float& clipping_dist)
     ImGui::PushStyleColor(ImGuiCol_FrameBg, { 0.2f / 255, 0.3f / 255, 0.7f / 255 ,1});
     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 });
+    ImGui::PushStyleColor(ImGuiCol_FrameBg, { 1.0f, 1.0f, 1.0f, 1.0f });  // White slider bar (background)
     auto slider_size = ImVec2(slider_window_width / 2, location.h - (pixels_to_buttom_of_stream_text * 2) - 20);
-    ImGui::VSliderFloat("##vslider", slider_size, &clipping_dist, 0.0f, 6.0f," % .2f");
+    ImGui::VSliderFloat("##vslider", slider_size, &clipping_dist, 0.0f, 6.0f, "", 1.0f, true);
     if (ImGui::IsItemHovered())
         ImGui::SetTooltip("Depth Clipping Distance: %.3f", clipping_dist);
-    ImGui::PopStyleColor(3);
+    ImGui::PopStyleColor(4);
 
     //Display bars next to slider
     float bars_dist = (slider_size.y / 6.0f);
diff --git a/examples/align-gl/rs-align-gl.cpp b/examples/align-gl/rs-align-gl.cpp
index 9e033076f0f..dc6acb9146a 100644
--- a/examples/align-gl/rs-align-gl.cpp
+++ b/examples/align-gl/rs-align-gl.cpp
@@ -55,7 +55,7 @@ int main(int argc, char * argv[]) try
     // Setup Dear ImGui context
     ImGui::CreateContext();
     // Setup Platform/Renderer backends
-    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplGlfw_InitForOpenGL(app, false);
     ImGui_ImplOpenGL3_Init();
 
     // Once we have a window, initialize GL module
@@ -165,7 +165,21 @@ void render_slider(rect location, float* alpha, direction* dir)
 
     ImGui::SetNextWindowPos({ location.x, location.y });
     ImGui::SetNextWindowSize({ location.w, location.h });
+    ImGui::SetNextWindowBgAlpha(0.5f); // Set the background alpha to 50% transparency
+    ImGui::GetStyle().WindowRounding = 10.0f; // Set the window rounding to 10.0f 
 
+    ImGuiStyle& style = ImGui::GetStyle();
+    ImVec4* colors = style.Colors;
+    colors[ImGuiCol_WindowBg] = ImVec4(0.1f, 0.1f, 0.1f, 1.0f); // Set the main background color to dark gray
+
+    // Set frame and button colors to gray
+    colors[ImGuiCol_FrameBg] = ImVec4(0.2f, 0.2f, 0.2f, 1.0f);
+    colors[ImGuiCol_FrameBgHovered] = ImVec4(0.3f, 0.3f, 0.3f, 1.0f);
+    colors[ImGuiCol_FrameBgActive] = ImVec4(0.35f, 0.35f, 0.35f, 1.0f);
+
+    colors[ImGuiCol_CheckMark] = ImVec4(0.5f, 0.5f, 0.5f, 1.0f); // Change the color of the checkmark to gray
+
+    colors[ImGuiCol_SliderGrab] = ImVec4(0.4f, 0.4f, 0.4f, 1.0f); // Change the color of the slider grab to gray
     // Render transparency slider:
     ImGui::Begin("slider", nullptr, flags);
     ImGui::PushItemWidth(-1);
diff --git a/examples/align/rs-align.cpp b/examples/align/rs-align.cpp
index f35b9b45088..e0bba7d63ac 100644
--- a/examples/align/rs-align.cpp
+++ b/examples/align/rs-align.cpp
@@ -51,7 +51,7 @@ int main(int argc, char * argv[]) try
     // Setup Dear ImGui context
     ImGui::CreateContext();
     // Setup Platform/Renderer backends
-    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplGlfw_InitForOpenGL(app, false);
     ImGui_ImplOpenGL3_Init();
     rs2::colorizer c;                     // Helper to colorize depth images
     texture depth_image, color_image;     // Helpers for renderig images
@@ -154,6 +154,21 @@ void render_slider(rect location, float* alpha, direction* dir)
 
     ImGui::SetNextWindowPos({ location.x, location.y });
     ImGui::SetNextWindowSize({ location.w, location.h });
+    ImGui::SetNextWindowBgAlpha(0.5f); // Set the background alpha to 50% transparency
+    ImGui::GetStyle().WindowRounding = 10.0f; // Set the window rounding to 10.0f 
+
+    ImGuiStyle& style = ImGui::GetStyle();
+    ImVec4* colors = style.Colors;
+    colors[ImGuiCol_WindowBg] = ImVec4(0.1f, 0.1f, 0.1f, 1.0f); // Set the main background color to dark gray
+
+    // Set frame and button colors to gray
+    colors[ImGuiCol_FrameBg] = ImVec4(0.2f, 0.2f, 0.2f, 1.0f);
+    colors[ImGuiCol_FrameBgHovered] = ImVec4(0.3f, 0.3f, 0.3f, 1.0f); 
+    colors[ImGuiCol_FrameBgActive] = ImVec4(0.35f, 0.35f, 0.35f, 1.0f); 
+    
+    colors[ImGuiCol_CheckMark] = ImVec4(0.5f, 0.5f, 0.5f, 1.0f); // Change the color of the checkmark to gray
+
+    colors[ImGuiCol_SliderGrab] = ImVec4(0.4f, 0.4f, 0.4f, 1.0f); // Change the color of the slider grab to gray
 
     // Render transparency slider:
     ImGui::Begin("slider", nullptr, flags);
diff --git a/examples/example-imgui.hpp b/examples/example-imgui.hpp
index ce41ff4c82f..862a00792ff 100644
--- a/examples/example-imgui.hpp
+++ b/examples/example-imgui.hpp
@@ -47,10 +47,28 @@ class hdr_slider : public slider {
         ImGui::SetNextWindowPos(_position);
         //concate the name given with seq_id in order to make a unique name (uniqeness is needed for Begin())
         std::string name_id = std::string(_name) + std::to_string(_seq_id);
+        ImGuiStyle& style = ImGui::GetStyle();
+        ImVec4* colors = style.Colors;
+        colors[ImGuiCol_WindowBg] = ImVec4(0.0f, 0.0f, 0.0f, 1.0f); // Set the main background color to black
+        style.WindowRounding = 10.0f; // Set the window rounding
+        style.WindowBorderSize = 0.0f;
+
+        // Set other window-related colors 
+        colors[ImGuiCol_TitleBg] = ImVec4(0.286f, 0.298f, 0.549f, 1.0f); 
+        colors[ImGuiCol_TitleBgActive] = ImVec4(0.286f, 0.298f, 0.549f, 1.0f);
+
+        // Set frame and button colors to gray
+        colors[ImGuiCol_FrameBg] = ImVec4(0.2f, 0.2f, 0.2f, 1.0f);
+        colors[ImGuiCol_FrameBgHovered] = ImVec4(0.3f, 0.3f, 0.3f, 1.0f);
+        colors[ImGuiCol_FrameBgActive] = ImVec4(0.35f, 0.35f, 0.35f, 1.0f);
+
+        colors[ImGuiCol_CheckMark] = ImVec4(0.5f, 0.5f, 0.5f, 1.0f); // Change the color of the checkmark to gray
+
+        colors[ImGuiCol_SliderGrab] = ImVec4(0.4f, 0.4f, 0.4f, 1.0f); // Change the color of the slider grab to gray
         ImGui::Begin(name_id.c_str(), nullptr, _sliders_flags);
         ImGui::Text("%s",_name);
         bool is_changed =
-            ImGui::SliderFloat("Slider Label", &_value, _min_value, _max_value, "%.3f", ImGuiSliderFlags_Logarithmic); //5.0f for logarithmic scale 
+            ImGui::SliderFloat("##HDRSlider", &_value, _min_value, _max_value, "%.3f", ImGuiSliderFlags_Logarithmic);
         if (is_changed) {
             _sensor.set_option(RS2_OPTION_SEQUENCE_ID, float(_seq_id));
             _sensor.set_option(_option, _value);
@@ -123,7 +141,7 @@ class hdr_widgets {
         _text_box_hdr_explain("HDR Tutorial", { 120, 20 }, { 1000, 140 }),
         _text_box_first_frame("frame 1", { 200, 150 }, { 170, 40 }),
         _text_box_second_frame("frame 2", { 460, 150 }, { 170, 40 }),
-        _text_box_hdr_frame("hdr", { 850, 280 }, { 170, 40 })
+        _text_box_hdr_frame("hdr", { 850, 280 }, { 170, 20 })
     {
         // init frames map
         //for initilize only - an empty frame with its properties
diff --git a/examples/example.hpp b/examples/example.hpp
index d7f4a564e9a..5677f87cd33 100644
--- a/examples/example.hpp
+++ b/examples/example.hpp
@@ -8,6 +8,7 @@
 #define GL_SILENCE_DEPRECATION
 #define GLFW_INCLUDE_GLU
 #include <GLFW/glfw3.h>
+#include <imgui_impl_glfw.h>
 
 #include <string>
 #include <sstream>
@@ -530,24 +531,28 @@ class window
         glfwSetWindowUserPointer(win, this);
         glfwSetMouseButtonCallback(win, [](GLFWwindow* w, int button, int action, int mods)
             {
+                ImGui_ImplGlfw_MouseButtonCallback(w, button, action, mods);// Forward the event to ImGui's GLFW implementation
                 auto s = (window*)glfwGetWindowUserPointer(w);
                 if (button == 0) s->on_left_mouse(action == GLFW_PRESS);
             });
 
         glfwSetScrollCallback(win, [](GLFWwindow* w, double xoffset, double yoffset)
             {
+                ImGui_ImplGlfw_ScrollCallback(w, xoffset, yoffset); // Forwards scroll events to ImGui
                 auto s = (window*)glfwGetWindowUserPointer(w);
                 s->on_mouse_scroll(xoffset, yoffset);
             });
 
         glfwSetCursorPosCallback(win, [](GLFWwindow* w, double x, double y)
             {
+                ImGui_ImplGlfw_CursorPosCallback(w, x, y); // Forward the cursor position to ImGui
                 auto s = (window*)glfwGetWindowUserPointer(w);
                 s->on_mouse_move(x, y);
             });
 
         glfwSetKeyCallback(win, [](GLFWwindow* w, int key, int scancode, int action, int mods)
             {
+                ImGui_ImplGlfw_KeyCallback(w, key, scancode, action, mods);
                 auto s = (window*)glfwGetWindowUserPointer(w);
                 if (0 == action) // on key release
                 {
diff --git a/examples/post-processing/rs-post-processing.cpp b/examples/post-processing/rs-post-processing.cpp
index da66acb50e3..4a7651129f7 100644
--- a/examples/post-processing/rs-post-processing.cpp
+++ b/examples/post-processing/rs-post-processing.cpp
@@ -57,7 +57,7 @@ int main(int argc, char * argv[]) try
     // Setup Dear ImGui context
     ImGui::CreateContext();
     // Setup Platform/Renderer backends
-    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplGlfw_InitForOpenGL(app, false);
     ImGui_ImplOpenGL3_Init();
 
     // Construct objects to manage view state
@@ -265,6 +265,9 @@ void render_ui(float w, float h, std::vector<filter_options>& filters)
     ImGui_ImplGlfw_NewFrame();
     ImGui::NewFrame();
     ImGui::SetNextWindowSize({ w, h });
+    ImGui::GetStyle().Colors[ImGuiCol_FrameBg] = ImVec4(0.2f, 0.2f, 0.2f, 1.0f);
+    ImGui::GetStyle().Colors[ImGuiCol_FrameBgHovered] = ImVec4(0.3f, 0.3f, 0.3f, 1.0f);
+    ImGui::GetStyle().Colors[ImGuiCol_FrameBgActive] = ImVec4(0.35f, 0.35f, 0.35f, 1.0f);
     ImGui::Begin("app", nullptr, flags);
 
     // Using ImGui library to provide slide controllers for adjusting the filter options
@@ -328,7 +331,7 @@ bool filter_slider_ui::render(const float3& location, bool enabled)
     if (is_int)
     {
         int value_as_int = static_cast<int>(value);
-        value_changed = ImGui::SliderInt(("##" + name).c_str(), &value_as_int, static_cast<int>(range.min), static_cast<int>(range.max), "%.0f");
+        value_changed = ImGui::SliderInt(("##" + name).c_str(), &value_as_int, static_cast<int>(range.min), static_cast<int>(range.max), "%d");
         value = static_cast<float>(value_as_int);
     }
     else
diff --git a/examples/record-playback/rs-record-playback.cpp b/examples/record-playback/rs-record-playback.cpp
index 314de96e18c..be20799fbf3 100644
--- a/examples/record-playback/rs-record-playback.cpp
+++ b/examples/record-playback/rs-record-playback.cpp
@@ -29,7 +29,7 @@ int main(int argc, char * argv[]) try
     // Setup Dear ImGui context
     ImGui::CreateContext();
     // Setup Platform/Renderer backends
-    ImGui_ImplGlfw_InitForOpenGL(app, true);
+    ImGui_ImplGlfw_InitForOpenGL(app, false);
     ImGui_ImplOpenGL3_Init();
 
     // Create booleans to control GUI (recorded - allow play button, recording - show 'recording to file' text)
@@ -71,6 +71,7 @@ int main(int argc, char * argv[]) try
         ImGui_ImplOpenGL3_NewFrame();
         ImGui_ImplGlfw_NewFrame();
         ImGui::NewFrame();
+        ImGui::SetNextWindowPos(ImVec2(0, 0));
         ImGui::SetNextWindowSize({ app.width(), app.height() });
         ImGui::Begin("app", nullptr, flags);
 
diff --git a/third-party/imgui/realsense_imgui.cpp b/third-party/imgui/realsense_imgui.cpp
index 02bbe66a7d0..b1edec22791 100644
--- a/third-party/imgui/realsense_imgui.cpp
+++ b/third-party/imgui/realsense_imgui.cpp
@@ -198,13 +198,289 @@ IMGUI_API bool ImGui::CustomComboBox(const char* label, int* current_item, const
     return value_changed;
 }
 
-IMGUI_API void ImGui::SizedToolTip(const char* text)
+IMGUI_API bool ImGui::SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v_min, float v_max, float power, int decimal_precision, ImGuiSliderFlags flags, bool render_bg)
 {
-    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
-    const ImVec2 text_size = ImGui::CalcTextSize(text);
-    ImGui::SetNextWindowSize(ImVec2(text_size.x + 10 , text_size.y + 10));
-    ImGui::BeginTooltipEx(ImGuiTooltipFlags_None, ImGuiWindowFlags_NoScrollbar);
-    ImGui::TextUnformatted(text);
-    ImGui::EndTooltip();
-    ImGui::PopStyleVar(1);
+    ImGuiContext& g = *GImGui;
+    ImGuiWindow* window = GetCurrentWindow();
+    const ImGuiStyle& style = g.Style;
+
+    const bool is_non_linear = fabsf(power - 1.0f) > 0.0001f;
+    const bool is_horizontal = (flags & ImGuiSliderFlags_Vertical) == 0;
+
+
+    if (!render_bg)
+    {
+        // Draw frame
+        RenderFrame(frame_bb.Min, frame_bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding);
+    }
+
+
+    const float grab_padding = 2.0f;
+    const float slider_sz = is_horizontal ? (frame_bb.GetWidth() - grab_padding * 2.0f) : (frame_bb.GetHeight() - grab_padding * 2.0f);
+    float grab_sz;
+    if (decimal_precision > 0)
+        grab_sz = ImMin(style.GrabMinSize, slider_sz);
+    else
+        grab_sz = ImMin(ImMax(1.0f * (slider_sz / (v_max - v_min + 1.0f)), style.GrabMinSize), slider_sz);  // Integer sliders, if possible have the grab size represent 1 unit
+    const float slider_usable_sz = slider_sz - grab_sz;
+    const float slider_usable_pos_min = (is_horizontal ? frame_bb.Min.x : frame_bb.Min.y) + grab_padding + grab_sz * 0.5f;
+    const float slider_usable_pos_max = (is_horizontal ? frame_bb.Max.x : frame_bb.Max.y) - grab_padding - grab_sz * 0.5f;
+
+    // For logarithmic sliders that cross over sign boundary we want the exponential increase to be symmetric around 0.0f
+    float linear_zero_pos = 0.0f;   // 0.0->1.0f
+    if (v_min * v_max < 0.0f)
+    {
+        // Different sign
+        const float linear_dist_min_to_0 = powf(fabsf(0.0f - v_min), 1.0f / power);
+        const float linear_dist_max_to_0 = powf(fabsf(v_max - 0.0f), 1.0f / power);
+        linear_zero_pos = linear_dist_min_to_0 / (linear_dist_min_to_0 + linear_dist_max_to_0);
+    }
+    else
+    {
+        // Same sign
+        linear_zero_pos = v_min < 0.0f ? 1.0f : 0.0f;
+    }
+
+    // Process clicking on the slider
+    bool value_changed = false;
+    if (g.ActiveId == id)
+    {
+        if (g.IO.MouseDown[0])
+        {
+            const float mouse_abs_pos = is_horizontal ? g.IO.MousePos.x : g.IO.MousePos.y;
+            float normalized_pos = ImClamp((mouse_abs_pos - slider_usable_pos_min) / slider_usable_sz, 0.0f, 1.0f);
+            if (!is_horizontal)
+                normalized_pos = 1.0f - normalized_pos;
+
+            float new_value;
+            if (is_non_linear)
+            {
+                // Account for logarithmic scale on both sides of the zero
+                if (normalized_pos < linear_zero_pos)
+                {
+                    // Negative: rescale to the negative range before powering
+                    float a = 1.0f - (normalized_pos / linear_zero_pos);
+                    a = powf(a, power);
+                    new_value = ImLerp(ImMin(v_max, 0.0f), v_min, a);
+                }
+                else
+                {
+                    // Positive: rescale to the positive range before powering
+                    float a;
+                    if (fabsf(linear_zero_pos - 1.0f) > 1.e-6f)
+                        a = (normalized_pos - linear_zero_pos) / (1.0f - linear_zero_pos);
+                    else
+                        a = normalized_pos;
+                    a = powf(a, power);
+                    new_value = ImLerp(ImMax(v_min, 0.0f), v_max, a);
+                }
+            }
+            else
+            {
+                // Linear slider
+                new_value = ImLerp(v_min, v_max, normalized_pos);
+            }
+
+            // Round past decimal precision, verify that it remains within min/max range
+            new_value = RoundScalar(new_value, decimal_precision);
+            if (new_value > v_max)  new_value = v_max;
+            if (new_value < v_min)  new_value = v_min;
+
+            if (*v != new_value)
+            {
+                *v = new_value;
+                value_changed = true;
+            }
+        }
+        else
+        {
+            ClearActiveID();
+        }
+    }
+
+    // Calculate slider grab positioning
+    float grab_t;
+    if (is_non_linear)
+    {
+        float v_clamped = ImClamp(*v, v_min, v_max);
+        if (v_clamped < 0.0f)
+        {
+            const float f = 1.0f - (v_clamped - v_min) / (ImMin(0.0f, v_max) - v_min);
+            grab_t = (1.0f - powf(f, 1.0f / power)) * linear_zero_pos;
+        }
+        else
+        {
+            const float f = (v_clamped - ImMax(0.0f, v_min)) / (v_max - ImMax(0.0f, v_min));
+            grab_t = linear_zero_pos + powf(f, 1.0f / power) * (1.0f - linear_zero_pos);
+        }
+    }
+    else
+    {
+        // Linear slider
+        grab_t = (ImClamp(*v, v_min, v_max) - v_min) / (v_max - v_min);
+    }
+
+    // Draw
+    if (!is_horizontal)
+        grab_t = 1.0f - grab_t;
+    const float grab_pos = ImLerp(slider_usable_pos_min, slider_usable_pos_max, grab_t);
+    ImRect grab_bb;
+    if (is_horizontal)
+        grab_bb = ImRect(ImVec2(grab_pos - grab_sz * 0.5f, frame_bb.Min.y + grab_padding), ImVec2(grab_pos + grab_sz * 0.5f, frame_bb.Max.y - grab_padding));
+    else
+        grab_bb = ImRect(ImVec2(frame_bb.Min.x + grab_padding, grab_pos - grab_sz * 0.5f), ImVec2(frame_bb.Max.x - grab_padding, grab_pos + grab_sz * 0.5f));
+
+    if (render_bg)
+    {
+        auto bb = frame_bb;
+        ImRect fill_br = frame_bb;
+        auto slider_height = bb.Max.y - bb.Min.y;
+        auto slider_width = bb.Max.x - bb.Min.x;
+        ImVec2 graber_size = {};
+        float width = (grab_bb.Max.x - grab_bb.Min.x);
+        float height = (grab_bb.Max.y - grab_bb.Min.y);
+        float radius = 1.0;
+        if (is_horizontal)
+        {
+            bb.Min.y = bb.Min.y + (slider_height / 3);
+            bb.Max.y = bb.Max.y - (slider_height / 3);
+            if (bb.Max.y - bb.Min.y < 1.0f)
+            {
+                bb.Min.y -= 0.5;
+                bb.Max.y += 0.5;
+            }
+            float grab_paddingl = 2.0f;
+            //Horizontal fills from left to right
+            fill_br.Min = bb.Min;
+            fill_br.Max = ImVec2(ImLerp(bb.Min.x, bb.Max.x - grab_paddingl, *v / 100), bb.Max.y);
+            graber_size = { grab_bb.Max.x - (width / 2.0f) , grab_bb.Max.y - (height / 2.0f) };
+            radius = height / 2.5f;
+        }
+        else
+        {
+            bb.Min.x = bb.Min.x + (slider_width / 3);
+            bb.Max.x = bb.Max.x - (slider_width / 3);
+            if (bb.Max.x - bb.Min.x < 1.0f)
+            {
+                bb.Min.x -= 0.5;
+                bb.Max.x += 0.5;
+            }
+            //Vertical fills from down upwards
+            fill_br.Min = bb.Min;
+            fill_br.Min.y = grab_bb.Min.y;
+            fill_br.Max = bb.Max;
+            graber_size = { grab_bb.Max.x - (width / 2.0f) , grab_bb.Max.y - (height / 2.0f) };
+            radius = width;// / 2.5;
+        }
+        // Draw frame
+        RenderFrame(bb.Min, bb.Max, GetColorU32(ImGuiCol_FrameBg), false, 10.0f);
+        RenderFrame(fill_br.Min, fill_br.Max, ImGui::ColorConvertFloat4ToU32({ 0, 112.f / 255, 197.f / 255, 1 }), false, 10.0f);
+        window->DrawList->AddCircleFilled(graber_size, radius, GetColorU32(g.ActiveId == id ? ImGuiCol_SliderGrabActive : ImGuiCol_SliderGrab), 16);
+    }
+    else
+    {
+        window->DrawList->AddRectFilled(grab_bb.Min, grab_bb.Max, GetColorU32(g.ActiveId == id ? ImGuiCol_SliderGrabActive : ImGuiCol_SliderGrab), style.GrabRounding);
+    }
+
+    return value_changed;
+}
+
+// Create text input in place of a slider (when CTRL+Clicking on slider)
+IMGUI_API  bool ImGui::InputScalarAsWidgetReplacement(const ImRect& aabb, const char* label, ImGuiDataType data_type, void* data_ptr, ImGuiID id, int decimal_precision)
+{
+    ImGuiContext& g = *GImGui;
+    ImGuiWindow* window = GetCurrentWindow();
+
+    // Track whether the item is being used for text input
+    bool start_text_input = false;
+
+    // First, determine if we should start text input (e.g., CTRL+Click on the slider)
+    if (ImGui::IsItemFocused() || (ImGui::IsItemHovered() && g.IO.MouseClicked[0]))
+    {
+        SetActiveID(id, window);
+        FocusWindow(window);
+
+        if (ImGui::IsItemFocused() || g.IO.KeyCtrl)
+        {
+            start_text_input = true;
+        }
+    }
+
+    // If we are in text input mode or if the item is actively being edited, use InputText
+    if (start_text_input || (g.ActiveId == id && g.ActiveIdSource == ImGuiInputSource_Keyboard))
+    {
+        bool text_value_changed = false;
+
+        // Use InputScalar to handle scalar input (e.g., float, int)
+        switch (data_type)
+        {
+        case ImGuiDataType_Float:
+            text_value_changed = ImGui::InputScalar(label, data_type, data_ptr, NULL, NULL, ".3f");
+            break;
+        case ImGuiDataType_S32:
+            text_value_changed = ImGui::InputScalar(label, data_type, data_ptr, NULL, NULL, 0);
+            break;
+            // Add other cases if you need support for other scalar types
+        default:
+            break;
+        }
+
+        if (text_value_changed)
+        {
+            return true; // If the value changed, return true
+        }
+    }
+    else
+    {
+        // If not in text input mode, render the slider as usual
+        ImGui::SliderFloat(label, (float*)data_ptr, 0.0f, 6.0f);
+    }
+
+    return false;
+}
+
+bool ImGui::VSliderFloat(const char* label, const ImVec2& size, float* v, float v_min, float v_max, const char* display_format, float power, bool render_bg)
+{
+    ImGuiWindow* window = GetCurrentWindow();
+    if (window->SkipItems)
+        return false;
+
+    ImGuiContext& g = *GImGui;
+    const ImGuiStyle& style = g.Style;
+    const ImGuiID id = window->GetID(label);
+
+    const ImVec2 label_size = CalcTextSize(label, NULL, true);
+    const ImRect frame_bb(window->DC.CursorPos, ImVec2(window->DC.CursorPos.x + size.x, window->DC.CursorPos.y + size.y));
+    const ImRect bb(frame_bb.Min,ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x + frame_bb.Max .x: frame_bb.Max.x, frame_bb.Max.y));
+
+    ItemSize(bb, style.FramePadding.y);
+    if (!ItemAdd(frame_bb, id))
+        return false;
+
+    const bool hovered = IsHovered(frame_bb, id);
+    if (hovered)
+        SetHoveredID(id);
+
+    if (!display_format)
+        display_format = "%.3f";
+    int decimal_precision = ParseFormatPrecision(display_format, 3);
+
+    if (hovered && g.IO.MouseClicked[0])
+    {
+        SetActiveID(id, window);
+        FocusWindow(window);
+    }
+
+    // Actual slider behavior + render grab
+    bool value_changed = SliderBehavior(frame_bb, id, v, v_min, v_max, power, decimal_precision, ImGuiSliderFlags_Vertical, render_bg);
+
+    // Display value using user-provided display format so user can add prefix/suffix/decorations to the value.
+    // For the vertical slider we allow centered text to overlap the frame padding
+    char value_buf[64];
+    char* value_buf_end = value_buf + ImFormatString(value_buf, IM_ARRAYSIZE(value_buf), display_format, *v);
+    RenderTextClipped(ImVec2(frame_bb.Min.x, frame_bb.Min.y + style.FramePadding.y), frame_bb.Max, value_buf, value_buf_end, NULL);
+    if (label_size.x > 0.0f)
+        RenderText(ImVec2(frame_bb.Max.x + style.ItemInnerSpacing.x, frame_bb.Min.y + style.FramePadding.y), label);
+
+    return value_changed;
 }
diff --git a/third-party/imgui/realsense_imgui.h b/third-party/imgui/realsense_imgui.h
index 688a201b7ef..256e8fb89bc 100644
--- a/third-party/imgui/realsense_imgui.h
+++ b/third-party/imgui/realsense_imgui.h
@@ -28,16 +28,16 @@ namespace ImGui
     };
     IMGUI_API void          RenderCollapseTriangle(ImVec2 p_min, bool is_open, float scale = 1.0f, bool shadow = false);
     IMGUI_API bool          SeekSlider(const char* label, int* v, const char* display_format = "%.0f%%");
-    /* Implement slider with increments other than 1. The implementation is a variation on https://github.com/ocornut/imgui/issues/1183 */
     IMGUI_API bool          SliderIntWithSteps(const char* label, int* v, int v_min, int v_max, int v_step = 1, const char* display_format = "%.3f");
     IMGUI_API bool          IsHovered(const ImRect& bb, ImGuiID id, bool flatten_childs = false);
     IMGUI_API void          SetScrollHere(float center_y_ratio = 0.5f);
     IMGUI_API int           ParseFormatPrecision(const char* fmt, int default_precision);
-    //IMGUI_API bool          VSliderFloatadd(const char* label, const ImVec2& size, float* v, float v_min, float v_max, const char* display_format, float power, bool render_bg);
-    //IMGUI_API bool          SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v_min, float v_max, float power, int decimal_precision, ImGuiSliderFlags flags, bool render_bg);
     IMGUI_API float         RoundScalar(float value, int decimal_precision);
     IMGUI_API bool          CustomComboBox(const char* label, int* current_item, const char* const items[], int items_count);
-    IMGUI_API void          SizedToolTip(const char* text);
+    IMGUI_API bool          VSliderFloat(const char* label, const ImVec2& size, float* v, float v_min, float v_max, const char* display_format, float power, bool render_bg);
+    IMGUI_API bool          InputScalarAsWidgetReplacement(const ImRect& aabb, const char* label, ImGuiDataType data_type, void* data_ptr, ImGuiID id, int decimal_precision);
+    IMGUI_API bool          SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v_min, float v_max, float power, int decimal_precision, ImGuiSliderFlags flags, bool render_bg);
+
 }
 #define CONCAT_(x,y) x##y
 #define CONCAT(x,y) CONCAT_(x,y)
diff --git a/tools/depth-quality/depth-quality-model.cpp b/tools/depth-quality/depth-quality-model.cpp
index cbb46ee730c..ac0143de1dd 100644
--- a/tools/depth-quality/depth-quality-model.cpp
+++ b/tools/depth-quality/depth-quality-model.cpp
@@ -476,8 +476,8 @@ namespace rs2
             // *********************
             // Creating window menus
             // *********************
+            ImGui::SetNextWindowContentSize(ImVec2(_viewer_model.panel_width - 26 , 0.0f));
             ImGui::Begin("Control Panel", nullptr, viewer_ui_traits::imgui_flags | ImGuiWindowFlags_AlwaysVerticalScrollbar);
-            ImGui::SetNextWindowSize({ _viewer_model.panel_width - 26,_viewer_model.panel_y });
 
             if (_device_model.get())
             {
@@ -512,7 +512,6 @@ namespace rs2
                 {
                     update_configuration();
                 }
-                ImGui::SetNextWindowSize(ImVec2(windows_width, ImGui::GetContentRegionMax().y));
                 auto pos = ImGui::GetCursorScreenPos();
 
                 for (auto&& lambda : draw_later)
diff --git a/tools/realsense-viewer/realsense-viewer.cpp b/tools/realsense-viewer/realsense-viewer.cpp
index da498c41fb9..e3abfbafe49 100644
--- a/tools/realsense-viewer/realsense-viewer.cpp
+++ b/tools/realsense-viewer/realsense-viewer.cpp
@@ -662,7 +662,7 @@ int main(int argc, const char** argv) try
                 }
             }
 
-            ImGui::SetNextWindowContentSize(ImVec2(ImGui::GetWindowWidth(), ImGui::GetWindowHeight()));
+            ImGui::SetNextWindowContentSize(ImVec2(windows_width, 0.0f));
 
             auto pos = ImGui::GetCursorScreenPos();
             auto h = ImGui::GetWindowHeight();
diff --git a/tools/rosbag-inspector/rs-rosbag-inspector.cpp b/tools/rosbag-inspector/rs-rosbag-inspector.cpp
index 0550ebbe789..2558f8b781d 100644
--- a/tools/rosbag-inspector/rs-rosbag-inspector.cpp
+++ b/tools/rosbag-inspector/rs-rosbag-inspector.cpp
@@ -414,13 +414,16 @@ int main(int argc, const char** argv) try
         ImGui::PushStyleColor(ImGuiCol_HeaderActive, from_rgba(0, 115, 210, 255));
         ImGui::PushStyleColor(ImGuiCol_WindowBg, from_rgba(37, 40, 48, 255));
         ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg);
+        ImGui::PushStyleColor(ImGuiCol_MenuBarBg, ImVec4(0.286f, 0.298f, 0.549f, 1.0f));
         ImGuiStyle& style = ImGui::GetStyle();
         style.FramePadding.x = 10;
         style.FramePadding.y = 5;
         int flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoSavedSettings;
 
         static bool open = true;
+        ImGui::SetNextWindowPos(ImVec2(0, 0));
         ImGui::SetNextWindowSize({ float(window.width()), float(window.height()) }, ImGuiCond_FirstUseEver);
+        style.WindowRounding = 10.0f; // Set the window rounding
         if (ImGui::Begin("Rosbag Inspector", nullptr, flags | ImGuiWindowFlags_MenuBar))
         {
             draw_menu_bar();
@@ -435,7 +438,7 @@ int main(int argc, const char** argv) try
             draw_error_modal();
         }
         ImGui::End();
-        ImGui::PopStyleColor(10);
+        ImGui::PopStyleColor(11);
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
     // Cleanup