diff --git a/common/model-views.cpp b/common/model-views.cpp
index 86a43c09a4..2a59dec220 100644
--- a/common/model-views.cpp
+++ b/common/model-views.cpp
@@ -15,7 +15,6 @@
 #include <opengl3.h>
 
 #include <librealsense2/rs_advanced_mode.hpp>
-#include <librealsense2/rsutil.h>
 #include <librealsense2/rs.hpp>
 
 #include "model-views.h"
diff --git a/common/post-processing-filter.h b/common/post-processing-filter.h
index ca92ec3de7..5a9400a76f 100644
--- a/common/post-processing-filter.h
+++ b/common/post-processing-filter.h
@@ -4,7 +4,6 @@
 #pragma once
 
 #include <librealsense2/rs.hpp>
-#include <librealsense2/rsutil.h>  // for projection utilities
 #include <model-views.h>
 #include <viewer.h>
 
diff --git a/common/viewer.cpp b/common/viewer.cpp
index f6dfb5232a..19bd1020d6 100644
--- a/common/viewer.cpp
+++ b/common/viewer.cpp
@@ -17,7 +17,6 @@
 #include <opengl3.h>
 
 #include <imgui_internal.h>
-#include <librealsense2/rsutil.h>
 
 #define ARCBALL_CAMERA_IMPLEMENTATION
 #include <arcball_camera.h>
diff --git a/examples/ar-advanced/rs-ar-advanced.cpp b/examples/ar-advanced/rs-ar-advanced.cpp
index a6c4825af9..19b90c1934 100644
--- a/examples/ar-advanced/rs-ar-advanced.cpp
+++ b/examples/ar-advanced/rs-ar-advanced.cpp
@@ -1,7 +1,6 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 #include <librealsense2/rs.hpp>
-#include <librealsense2/rsutil.h>
 #include <array>
 #include <cmath>
 #include <cstring>
diff --git a/examples/ar-basic/rs-ar-basic.cpp b/examples/ar-basic/rs-ar-basic.cpp
index b81e371205..8768347946 100644
--- a/examples/ar-basic/rs-ar-basic.cpp
+++ b/examples/ar-basic/rs-ar-basic.cpp
@@ -1,7 +1,6 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 #include <librealsense2/rs.hpp>
-#include <librealsense2/rsutil.h>
 #include <array>
 #include <cmath>
 #include <iostream>
diff --git a/examples/measure/rs-measure.cpp b/examples/measure/rs-measure.cpp
index d0423c3a1d..79e7f0ca10 100644
--- a/examples/measure/rs-measure.cpp
+++ b/examples/measure/rs-measure.cpp
@@ -2,7 +2,6 @@
 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
-#include <librealsense2/rsutil.h>
 #include "example.hpp"          // Include short list of convenience functions for rendering
 
 // This example will require several standard data-structures and algorithms:
diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h
index a02a6127f3..ad9cfa3e5f 100644
--- a/include/librealsense2/rs.h
+++ b/include/librealsense2/rs.h
@@ -13,6 +13,7 @@
 extern "C" {
 #endif
 
+#include "rsutil.h"
 #include "h/rs_types.h"
 #include "h/rs_context.h"
 #include "h/rs_device.h"
diff --git a/src/gl/pointcloud-gl.cpp b/src/gl/pointcloud-gl.cpp
index 4528e45645..acff4e98ef 100644
--- a/src/gl/pointcloud-gl.cpp
+++ b/src/gl/pointcloud-gl.cpp
@@ -2,7 +2,6 @@
 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "../include/librealsense2/rs.hpp"
-#include "../include/librealsense2/rsutil.h"
 
 #include "synthetic-stream-gl.h"
 #include "environment.h"
diff --git a/src/image-avx.cpp b/src/image-avx.cpp
index 0a3f87085a..3d0a2323aa 100644
--- a/src/image-avx.cpp
+++ b/src/image-avx.cpp
@@ -5,8 +5,6 @@
 #include <cmath>
 #include "image-avx.h"
 
-//#include "../include/librealsense2/rsutil.h" // For projection/deprojection logic
-
 #ifndef ANDROID
     #if defined(__SSSE3__) && defined(__AVX2__)
     #include <tmmintrin.h> // For SSE3 intrinsic used in unpack_yuy2_sse
diff --git a/src/proc/align.cpp b/src/proc/align.cpp
index 3404aa0148..7a28dc9475 100644
--- a/src/proc/align.cpp
+++ b/src/proc/align.cpp
@@ -3,7 +3,6 @@
 
 #include "../include/librealsense2/hpp/rs_sensor.hpp"
 #include "../include/librealsense2/hpp/rs_processing.hpp"
-#include "../include/librealsense2/rsutil.h"
 
 #include "core/video.h"
 #include "proc/synthetic-stream.h"
diff --git a/src/proc/occlusion-filter.cpp b/src/proc/occlusion-filter.cpp
index 177e234c4d..4b1b98b54d 100644
--- a/src/proc/occlusion-filter.cpp
+++ b/src/proc/occlusion-filter.cpp
@@ -2,10 +2,9 @@
 // Copyright(c) 2018 Intel Corporation. All Rights Reserved.
 
 #include "../include/librealsense2/rs.hpp"
-#include "../include/librealsense2/rsutil.h"
 #include "proc/synthetic-stream.h"
 #include "proc/occlusion-filter.h"
-//#include  "../../common/tiny-profiler.h"
+
 #include <vector>
 #include <cmath>
 
diff --git a/src/proc/pointcloud.cpp b/src/proc/pointcloud.cpp
index 22e0b8d454..b685a5c6a9 100644
--- a/src/proc/pointcloud.cpp
+++ b/src/proc/pointcloud.cpp
@@ -2,7 +2,6 @@
 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "../include/librealsense2/rs.hpp"
-#include "../include/librealsense2/rsutil.h"
 #include "environment.h"
 #include "proc/occlusion-filter.h"
 #include "proc/pointcloud.h"
diff --git a/src/proc/sse/sse-align.cpp b/src/proc/sse/sse-align.cpp
index 1ed6659f51..0f5367923e 100644
--- a/src/proc/sse/sse-align.cpp
+++ b/src/proc/sse/sse-align.cpp
@@ -6,7 +6,6 @@
 #include <tmmintrin.h> // For SSE3 intrinsic used in unpack_yuy2_sse
 #include "../include/librealsense2/hpp/rs_sensor.hpp"
 #include "../include/librealsense2/hpp/rs_processing.hpp"
-#include "../include/librealsense2/rsutil.h"
 
 #include "core/video.h"
 #include "proc/synthetic-stream.h"
diff --git a/src/proc/sse/sse-pointcloud.cpp b/src/proc/sse/sse-pointcloud.cpp
index 8488fb4ceb..84e7cfe31c 100644
--- a/src/proc/sse/sse-pointcloud.cpp
+++ b/src/proc/sse/sse-pointcloud.cpp
@@ -2,7 +2,6 @@
 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include <librealsense2/rs.hpp>
-#include <librealsense2/rsutil.h>
 
 #include "../synthetic-stream.h"
 #include "../../environment.h"
diff --git a/src/rs.cpp b/src/rs.cpp
index 7b93f2a0de..76e0bb1375 100644
--- a/src/rs.cpp
+++ b/src/rs.cpp
@@ -3,7 +3,6 @@
 
 #include <functional>   // For function
 
-#include <librealsense2/rsutil.h>
 #include "api.h"
 #include "log.h"
 #include "context.h"
diff --git a/tools/depth-quality/depth-metrics.h b/tools/depth-quality/depth-metrics.h
index d17f427a94..cbbf44b858 100644
--- a/tools/depth-quality/depth-metrics.h
+++ b/tools/depth-quality/depth-metrics.h
@@ -8,7 +8,6 @@
 #include <mutex>
 #include <array>
 #include <imgui.h>
-#include <librealsense2/rsutil.h>
 #include <librealsense2/rs.hpp>
 #include "rendering.h"
 
diff --git a/tools/enumerate-devices/rs-enumerate-devices.cpp b/tools/enumerate-devices/rs-enumerate-devices.cpp
index d79a6c748e..17012c1db5 100644
--- a/tools/enumerate-devices/rs-enumerate-devices.cpp
+++ b/tools/enumerate-devices/rs-enumerate-devices.cpp
@@ -2,7 +2,6 @@
 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
 
 #include <librealsense2/rs.hpp>
-#include <librealsense2/rsutil.h>
 #include <iostream>
 #include <iomanip>
 #include <map>