diff --git a/CMakeLists.txt b/CMakeLists.txt
index b02e6ff..da82b8a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,10 +27,10 @@ if(LSB_RELEASE_PROGRAM)
     OUTPUT_STRIP_TRAILING_WHITESPACE)
 
   if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
-    set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16")
+    set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils")
 
   elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
-    set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0, libstdc++6")
+    set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0, libstdc++6, , librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils")
   endif()
 
 endif(LSB_RELEASE_PROGRAM)
@@ -262,6 +262,15 @@ install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapp
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
 
+if(realsense2_FOUND)
+    install(TARGETS basalt_rs_t265_record basalt_rs_t265_vio
+      EXPORT BasaltTargets
+      RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+      LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+      ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+endif()
+
+
 file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
 install(FILES ${CONFIG_FILES}
   DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt)