diff --git a/examples/align/rs-align.cpp b/examples/align/rs-align.cpp
index 3e6c21cfb9..97ed828751 100644
--- a/examples/align/rs-align.cpp
+++ b/examples/align/rs-align.cpp
@@ -3,7 +3,6 @@
 
 #include <librealsense2/rs.hpp>
 #include "example-imgui.hpp"
-#include "../examples/example-utils.hpp"
 
 /*
  This example introduces the concept of spatial stream alignment.
diff --git a/examples/ar-advanced/rs-ar-advanced.cpp b/examples/ar-advanced/rs-ar-advanced.cpp
index 44f0905810..a6c4825af9 100644
--- a/examples/ar-advanced/rs-ar-advanced.cpp
+++ b/examples/ar-advanced/rs-ar-advanced.cpp
@@ -9,7 +9,6 @@
 #include <fstream>
 #include <vector>
 #include "example.hpp"
-#include "../examples/example-utils.hpp"
 
 struct point3d {
     float f[3];
diff --git a/examples/example.hpp b/examples/example.hpp
index 9d4a2fbe66..7129672d43 100644
--- a/examples/example.hpp
+++ b/examples/example.hpp
@@ -19,6 +19,7 @@
 #include <functional>
 
 #include "../third-party/stb_easy_font.h"
+#include "example-utils.hpp"
 
 #ifndef PI
 #define PI  3.14159265358979323846
diff --git a/examples/measure/rs-measure.cpp b/examples/measure/rs-measure.cpp
index f9f3377af0..d0423c3a1d 100644
--- a/examples/measure/rs-measure.cpp
+++ b/examples/measure/rs-measure.cpp
@@ -14,7 +14,6 @@
 #include <thread>
 #include <atomic>
 #include <mutex>
-#include "../examples/example-utils.hpp"
 
 using pixel = std::pair<int, int>;
 
diff --git a/examples/pose-and-image/CMakeLists.txt b/examples/pose-and-image/CMakeLists.txt
index 993b078dda..dd2a22453e 100644
--- a/examples/pose-and-image/CMakeLists.txt
+++ b/examples/pose-and-image/CMakeLists.txt
@@ -20,6 +20,7 @@ endif()
 if(BUILD_EXAMPLES)
     add_executable(rs-pose-and-image rs-pose-and-image.cpp)
     target_link_libraries(rs-pose-and-image ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose-and-image PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose-and-image RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
diff --git a/examples/pose-and-image/rs-pose-and-image.cpp b/examples/pose-and-image/rs-pose-and-image.cpp
index e0cc0b286a..0640d05948 100644
--- a/examples/pose-and-image/rs-pose-and-image.cpp
+++ b/examples/pose-and-image/rs-pose-and-image.cpp
@@ -6,7 +6,7 @@
 #include <chrono>
 #include <thread>
 #include <mutex>
-#include "../examples/example-utils.hpp"
+#include "example.hpp"
 
 int main(int argc, char * argv[]) try
 {
diff --git a/examples/pose-predict/CMakeLists.txt b/examples/pose-predict/CMakeLists.txt
index b23297fc6e..2dc862eaca 100644
--- a/examples/pose-predict/CMakeLists.txt
+++ b/examples/pose-predict/CMakeLists.txt
@@ -9,6 +9,7 @@ if(BUILD_EXAMPLES)
     add_executable(rs-pose-predict rs-pose-predict.cpp)
     set_property(TARGET rs-pose-predict PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-pose-predict ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose-predict PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose-predict RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
diff --git a/examples/pose-predict/rs-pose-predict.cpp b/examples/pose-predict/rs-pose-predict.cpp
index 13f9aaf1a1..f81582574a 100644
--- a/examples/pose-predict/rs-pose-predict.cpp
+++ b/examples/pose-predict/rs-pose-predict.cpp
@@ -9,7 +9,7 @@
 
 #include <math.h>
 #include <float.h>
-#include "../examples/example-utils.hpp"
+#include "example.hpp"
 
 inline rs2_quaternion quaternion_exp(rs2_vector v)
 {
diff --git a/examples/pose/CMakeLists.txt b/examples/pose/CMakeLists.txt
index 7e71cabc3a..3f4553601b 100644
--- a/examples/pose/CMakeLists.txt
+++ b/examples/pose/CMakeLists.txt
@@ -9,6 +9,7 @@ if(BUILD_EXAMPLES)
     add_executable(rs-pose rs-pose.cpp)
     set_property(TARGET rs-pose PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-pose ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
diff --git a/examples/pose/rs-pose.cpp b/examples/pose/rs-pose.cpp
index 76597fe53e..2cffe77547 100644
--- a/examples/pose/rs-pose.cpp
+++ b/examples/pose/rs-pose.cpp
@@ -3,7 +3,7 @@
 #include <librealsense2/rs.hpp>
 #include <iostream>
 #include <iomanip>
-#include "../examples/example-utils.hpp"
+#include "example.hpp"
 
 int main(int argc, char * argv[]) try
 {
diff --git a/examples/trajectory/rs-trajectory.cpp b/examples/trajectory/rs-trajectory.cpp
index 7196b1e10e..62cf49b294 100644
--- a/examples/trajectory/rs-trajectory.cpp
+++ b/examples/trajectory/rs-trajectory.cpp
@@ -4,7 +4,6 @@
 #include <librealsense2/rs.hpp>
 #include "example.hpp"          // Include short list of convenience functions for rendering
 #include <cstring>
-#include "../examples/example-utils.hpp"
 
 struct short3
 {
diff --git a/tools/benchmark/CMakeLists.txt b/tools/benchmark/CMakeLists.txt
index 7d15ae13e2..c847c31d2c 100644
--- a/tools/benchmark/CMakeLists.txt
+++ b/tools/benchmark/CMakeLists.txt
@@ -21,7 +21,7 @@ endif()
 if(BUILD_GRAPHICAL_EXAMPLES)
     add_executable(rs-benchmark rs-benchmark.cpp ../../third-party/glad/glad.c)
     target_link_libraries(rs-benchmark ${DEPENDENCIES} realsense2-gl)
-    include_directories(../../third-party/tclap/include ../../third-party/glad)
+    include_directories(../../third-party/tclap/include ../../third-party/glad ../../examples)
     set_target_properties (rs-benchmark PROPERTIES
         FOLDER Tools
     )
diff --git a/tools/benchmark/rs-benchmark.cpp b/tools/benchmark/rs-benchmark.cpp
index b00be5e4d6..db4a7d63ef 100644
--- a/tools/benchmark/rs-benchmark.cpp
+++ b/tools/benchmark/rs-benchmark.cpp
@@ -17,7 +17,7 @@
 #include <fstream>
 
 #include "tclap/CmdLine.h"
-#include "../examples/example-utils.hpp"
+#include "example-utils.hpp"
 
 using namespace std;
 using namespace chrono;
@@ -208,9 +208,24 @@ class gl_blocks : public suite
 int main(int argc, char** argv) try
 {
     std::string serial;
-    if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
+    enum second_stream {
+        rgb_stream,
+        ir_stream
+    };
+    second_stream second_stream;
+    if (!device_with_streams({ RS2_STREAM_DEPTH }, serial))
         return EXIT_SUCCESS;
 
+    if (device_with_streams({ RS2_STREAM_COLOR }, serial))
+        second_stream = rgb_stream;
+    else if (device_with_streams({ RS2_STREAM_INFRARED }, serial))
+        second_stream = ir_stream;
+    else
+    {
+        std::cout<< " Connect a device that supports either RGB stream or Infrared stream." <<std::endl;
+        return EXIT_SUCCESS;
+    }
+
     CmdLine cmd("librealsense rs-benchmark tool", ' ', RS2_API_VERSION_STR);
     cmd.parse(argc, argv);
 
@@ -244,7 +259,10 @@ int main(int argc, char** argv) try
     if (!serial.empty())
         cfg.enable_device(serial);
     cfg.enable_stream(RS2_STREAM_DEPTH);
-    cfg.enable_stream(RS2_STREAM_COLOR, RS2_FORMAT_YUYV, 30);
+    if(second_stream == rgb_stream)
+        cfg.enable_stream(RS2_STREAM_COLOR, RS2_FORMAT_YUYV, 30);
+    else
+        cfg.enable_stream(RS2_STREAM_INFRARED);
     auto prof = p.start(cfg);
     auto dev = prof.get_device();
     auto name = dev.get_info(RS2_CAMERA_INFO_NAME);
diff --git a/wrappers/python/examples/align-depth2color.py b/wrappers/python/examples/align-depth2color.py
index fb7cade050..7c8fd0c12c 100644
--- a/wrappers/python/examples/align-depth2color.py
+++ b/wrappers/python/examples/align-depth2color.py
@@ -29,7 +29,7 @@
         found_rgb = True
         break
 if not found_rgb:
-    print("The connected device does not support RGB stream")
+    print("The demo requires Depth camera with Color sensor")
     exit(0)
 
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
diff --git a/wrappers/python/examples/opencv_pointcloud_viewer.py b/wrappers/python/examples/opencv_pointcloud_viewer.py
index 11957d9f92..1920ac0279 100644
--- a/wrappers/python/examples/opencv_pointcloud_viewer.py
+++ b/wrappers/python/examples/opencv_pointcloud_viewer.py
@@ -76,7 +76,7 @@ def pivot(self):
         found_rgb = True
         break
 if not found_rgb:
-    print("The connected device does not support RGB stream")
+    print("The demo requires Depth camera with Color sensor")
     exit(0)
 
 config.enable_stream(rs.stream.depth, rs.format.z16, 30)
diff --git a/wrappers/python/examples/opencv_viewer_example.py b/wrappers/python/examples/opencv_viewer_example.py
index fcab12a661..05323d28a2 100644
--- a/wrappers/python/examples/opencv_viewer_example.py
+++ b/wrappers/python/examples/opencv_viewer_example.py
@@ -25,7 +25,7 @@
         found_rgb = True
         break
 if not found_rgb:
-    print("The connected device does not support RGB stream")
+    print("The demo requires Depth camera with Color sensor")
     exit(0)
 
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
diff --git a/wrappers/python/examples/pyglet_pointcloud_viewer.py b/wrappers/python/examples/pyglet_pointcloud_viewer.py
index 6fd61fe2f2..6b672a59a0 100644
--- a/wrappers/python/examples/pyglet_pointcloud_viewer.py
+++ b/wrappers/python/examples/pyglet_pointcloud_viewer.py
@@ -100,7 +100,7 @@ def rotation(self):
         found_rgb = True
         break
 if not found_rgb:
-    print("The connected device does not support RGB stream")
+    print("The demo requires Depth camera with Color sensor")
     exit(0)
 
 config.enable_stream(rs.stream.depth, rs.format.z16, 30)