diff --git a/guilib/src/GuiLib.qrc b/guilib/src/GuiLib.qrc
index 005bbf02..047003e0 100644
--- a/guilib/src/GuiLib.qrc
+++ b/guilib/src/GuiLib.qrc
@@ -29,8 +29,9 @@
         <file>images/sense.png</file>
         <file>images/xtion_pro_live.png</file>
         <file>images/bumblebee2.png</file>
-        <file>images/webcam.png</file> 
+        <file>images/webcam.png</file>
         <file>images/zed.png</file>
         <file>images/r200.png</file>
+        <file>images/zr300.png</file>
     </qresource>
 </RCC>
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 889a4805..4ba12ff0 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -418,7 +418,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
 	connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
 	connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
-	connect(_ui->actionRealSense, SIGNAL(triggered()), this, SLOT(selectRealSense()));
+	connect(_ui->actionRealSense_R200, SIGNAL(triggered()), this, SLOT(selectRealSense()));
+	connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
 	connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
 	connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
 	connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
@@ -430,7 +431,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
 	_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
 	_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
-	_ui->actionRealSense->setEnabled(CameraRealSense::available());
+	_ui->actionRealSense_R200->setEnabled(CameraRealSense::available());
+	_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
 	_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
 	_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
 	_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
@@ -3899,7 +3901,8 @@ void MainWindow::updateSelectSourceMenu()
 	_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
 	_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
 	_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
-	_ui->actionRealSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
+	_ui->actionRealSense_R200->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
+	_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
 	_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
 	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
 	_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
diff --git a/guilib/src/images/zr300.png b/guilib/src/images/zr300.png
new file mode 100644
index 00000000..6926d070
Binary files /dev/null and b/guilib/src/images/zr300.png differ
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index d5485620..544decae 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -176,13 +176,24 @@
         <iconset resource="../GuiLib.qrc">
          <normaloff>:/images/r200.png</normaloff>:/images/r200.png</iconset>
        </property>
-       <addaction name="actionRealSense"/>
+       <addaction name="actionRealSense_R200"/>
+      </widget>
+      <widget class="QMenu" name="menuRealSense_ZR300">
+       <property name="title">
+        <string>RealSense ZR300</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../GuiLib.qrc">
+         <normaloff>:/images/zr300.png</normaloff>:/images/zr300.png</iconset>
+       </property>
+       <addaction name="actionRealSense_ZR300"/>
       </widget>
       <addaction name="menuKinect_for_Xbox_360"/>
       <addaction name="menuXtion_PRO_LIVE"/>
       <addaction name="menuSense_3D_scanner"/>
       <addaction name="menuKinect_v2"/>
       <addaction name="menuRealSense_R200"/>
+      <addaction name="menuRealSense_ZR300"/>
      </widget>
      <widget class="QMenu" name="menuStereo_camera">
       <property name="title">
@@ -1338,7 +1349,7 @@
     <string>Export octomap...</string>
    </property>
   </action>
-  <action name="actionRealSense">
+  <action name="actionRealSense_R200">
    <property name="checkable">
     <bool>true</bool>
    </property>
@@ -1351,6 +1362,14 @@
     <string>Depth calibration...</string>
    </property>
   </action>
+  <action name="actionRealSense_ZR300">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>RealSense</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>