diff --git a/octomap/include/octomap/AbstractOcTree.h b/octomap/include/octomap/AbstractOcTree.h
index e396d28a..c1e93235 100644
--- a/octomap/include/octomap/AbstractOcTree.h
+++ b/octomap/include/octomap/AbstractOcTree.h
@@ -51,7 +51,7 @@ namespace octomap {
     friend class StaticMapInit;
   public:
     AbstractOcTree();
-    virtual ~AbstractOcTree() {};
+    virtual ~AbstractOcTree() {}
 
     /// virtual constructor: creates a new object of same type
     virtual AbstractOcTree* create() const = 0;
diff --git a/octomap/include/octomap/AbstractOccupancyOcTree.h b/octomap/include/octomap/AbstractOccupancyOcTree.h
index 240aedec..dd38571f 100644
--- a/octomap/include/octomap/AbstractOccupancyOcTree.h
+++ b/octomap/include/octomap/AbstractOccupancyOcTree.h
@@ -52,7 +52,7 @@ namespace octomap {
   class AbstractOccupancyOcTree : public AbstractOcTree {
   public:
     AbstractOccupancyOcTree();
-    virtual ~AbstractOccupancyOcTree() {};
+    virtual ~AbstractOccupancyOcTree() {}
 
     //-- IO
 
diff --git a/octomap/include/octomap/ColorOcTree.h b/octomap/include/octomap/ColorOcTree.h
index 03f8b904..5026a07b 100644
--- a/octomap/include/octomap/ColorOcTree.h
+++ b/octomap/include/octomap/ColorOcTree.h
@@ -192,7 +192,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer colorOcTreeMemberInit;
diff --git a/octomap/include/octomap/CountingOcTree.h b/octomap/include/octomap/CountingOcTree.h
index f7ab115c..2b06cc7e 100644
--- a/octomap/include/octomap/CountingOcTree.h
+++ b/octomap/include/octomap/CountingOcTree.h
@@ -110,7 +110,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer countingOcTreeMemberInit;
diff --git a/octomap/include/octomap/OcTree.h b/octomap/include/octomap/OcTree.h
index dcd5ac79..725ec762 100644
--- a/octomap/include/octomap/OcTree.h
+++ b/octomap/include/octomap/OcTree.h
@@ -59,7 +59,7 @@ namespace octomap {
      */
     OcTree(std::string _filename);
 
-    virtual ~OcTree(){};
+    virtual ~OcTree(){}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)
@@ -89,7 +89,7 @@ namespace octomap {
 	     * StaticMemberInitializer, causing this tree failing to register.
 	     * Needs to be called from the constructor of this octree.
 	     */
-	    void ensureLinking() {};
+	    void ensureLinking() {}
     };
 
     /// to ensure static initialization (only once)
diff --git a/octomap/include/octomap/OcTreeBase.h b/octomap/include/octomap/OcTreeBase.h
index d53b4056..1e600494 100644
--- a/octomap/include/octomap/OcTreeBase.h
+++ b/octomap/include/octomap/OcTreeBase.h
@@ -43,7 +43,7 @@ namespace octomap {
   template <class NODE>
   class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> {
   public:
-    OcTreeBase<NODE>(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {};
+    OcTreeBase(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)
diff --git a/octomap/include/octomap/OcTreeBaseImpl.h b/octomap/include/octomap/OcTreeBaseImpl.h
index 74711c2d..7109d9cc 100644
--- a/octomap/include/octomap/OcTreeBaseImpl.h
+++ b/octomap/include/octomap/OcTreeBaseImpl.h
@@ -244,7 +244,7 @@ namespace octomap {
     virtual size_t memoryUsage() const;
 
     /// \return Memory usage of a single octree node
-    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); };
+    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); }
 
     /// \return Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
     /// \note this can be larger than the adressable memory - size_t may not be enough to hold it!
@@ -324,12 +324,12 @@ namespace octomap {
     typedef leaf_iterator iterator;
 
     /// @return beginning of the tree as leaf iterator
-    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);};
+    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
-    const iterator end() const {return leaf_iterator_end;}; // TODO: RVE?
+    const iterator end() const {return leaf_iterator_end;} // TODO: RVE?
 
     /// @return beginning of the tree as leaf iterator
-    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);};
+    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
     const leaf_iterator end_leafs() const {return leaf_iterator_end;}
 
diff --git a/octomap/include/octomap/OcTreeDataNode.h b/octomap/include/octomap/OcTreeDataNode.h
index febe0384..1ecdf808 100644
--- a/octomap/include/octomap/OcTreeDataNode.h
+++ b/octomap/include/octomap/OcTreeDataNode.h
@@ -100,9 +100,9 @@ namespace octomap {
     OCTOMAP_DEPRECATED(bool hasChildren() const);
 
     /// @return value stored in the node
-    T getValue() const{return value;};
+    T getValue() const{return value;}
     /// sets value to be stored in the node
-    void setValue(T v) {value = v;};
+    void setValue(T v) {value = v;}
 
     // file IO:
 
diff --git a/octomap/include/octomap/OcTreeIterator.hxx b/octomap/include/octomap/OcTreeIterator.hxx
index 5f2dd7e5..64cbdd7a 100644
--- a/octomap/include/octomap/OcTreeIterator.hxx
+++ b/octomap/include/octomap/OcTreeIterator.hxx
@@ -102,7 +102,7 @@
         maxDepth = other.maxDepth;
         stack = other.stack;
         return *this;
-      };
+      }
 
       /// Ptr operator will return the current node in the octree which the
       /// iterator is referring to
@@ -220,7 +220,7 @@
        * @param ptree OcTreeBaseImpl on which the iterator is used on
        * @param depth Maximum depth to traverse the tree. 0 (default): unlimited
        */
-      tree_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* ptree, uint8_t depth=0) : iterator_base<NodeType>(ptree, depth) {};
+      tree_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* ptree, uint8_t depth=0) : iterator_base<NodeType>(ptree, depth) {}
 
       /// postfix increment operator of iterator (it++)
       tree_iterator operator++(int){
@@ -287,7 +287,7 @@
             }
           }
 
-          leaf_iterator(const leaf_iterator& other) : iterator_base<NodeType>(other) {};
+          leaf_iterator(const leaf_iterator& other) : iterator_base<NodeType>(other) {}
 
           /// postfix increment operator of iterator (it++)
           leaf_iterator operator++(int){
@@ -341,7 +341,7 @@
      */
     class leaf_bbx_iterator : public iterator_base<NodeType> {
     public:
-      leaf_bbx_iterator() : iterator_base<NodeType>() {};
+      leaf_bbx_iterator() : iterator_base<NodeType>() {}
       /**
       * Constructor of the iterator. The bounding box corners min and max are
       * converted into an OcTreeKey first.
@@ -432,7 +432,7 @@
 
 
         return *this;
-      };
+      }
 
     protected:
 
diff --git a/octomap/include/octomap/OcTreeStamped.h b/octomap/include/octomap/OcTreeStamped.h
index 21cf6463..3fa648c3 100644
--- a/octomap/include/octomap/OcTreeStamped.h
+++ b/octomap/include/octomap/OcTreeStamped.h
@@ -116,7 +116,7 @@ namespace octomap {
       * StaticMemberInitializer, causing this tree failing to register.
       * Needs to be called from the constructor of this octree.
       */
-      void ensureLinking() {};
+      void ensureLinking() {}
     };
     /// to ensure static initialization (only once)
     static StaticMemberInitializer ocTreeStampedMemberInit;
diff --git a/octomap/include/octomap/ScanGraph.h b/octomap/include/octomap/ScanGraph.h
index 0ababe41..7652362d 100644
--- a/octomap/include/octomap/ScanGraph.h
+++ b/octomap/include/octomap/ScanGraph.h
@@ -115,7 +115,7 @@ namespace octomap {
 
    public:
 
-    ScanGraph() {};
+    ScanGraph() {}
     ~ScanGraph();
 
     /// Clears all nodes and edges, and will delete the corresponding objects
diff --git a/octomap/src/Pointcloud.cpp b/octomap/src/Pointcloud.cpp
index a6d4a745..87c9e05e 100644
--- a/octomap/src/Pointcloud.cpp
+++ b/octomap/src/Pointcloud.cpp
@@ -38,7 +38,7 @@
 
 #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
   #include <algorithm>
-  #if __cplusplus > 199711L
+  #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
     #include <random>
   #endif
 #else
@@ -213,7 +213,7 @@ namespace octomap {
   #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
     samples.reserve(this->size());
     samples.insert(samples.end(), this->begin(), this->end());
-    #if __cplusplus > 199711L
+    #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
       std::random_device r;
       std::mt19937 urbg(r());
       std::shuffle(samples.begin(), samples.end(), urbg);
diff --git a/octomap/src/compare_octrees.cpp b/octomap/src/compare_octrees.cpp
index 0ab8c26b..c02ceea8 100644
--- a/octomap/src/compare_octrees.cpp
+++ b/octomap/src/compare_octrees.cpp
@@ -132,7 +132,7 @@ int main(int argc, char** argv) {
       else
         kld +=log(p1/p2)*p1 + log((1-p1)/(1-p2))*(1-p1);
 
-#if __cplusplus >= 201103L
+#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
       if (std::isnan(kld)){
 #else
       if (isnan(kld)){
diff --git a/octovis/include/octovis/OcTreeDrawer.h b/octovis/include/octovis/OcTreeDrawer.h
index 34d719a3..5d444057 100644
--- a/octovis/include/octovis/OcTreeDrawer.h
+++ b/octovis/include/octovis/OcTreeDrawer.h
@@ -62,14 +62,14 @@ namespace octomap {
     void setAlternativeDrawing(bool flag){m_alternativeDrawing = flag;}
 
     void enableOcTree(bool enabled = true);
-    void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; };
-    void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; };
-    void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; };
-    void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;};
+    void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; }
+    void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; }
+    void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; }
+    void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;}
 
     // set new origin (move object)
     void setOrigin(octomap::pose6d t);
-    void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; };
+    void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; }
 
   protected:
     //void clearOcTree();
diff --git a/octovis/include/octovis/SceneObject.h b/octovis/include/octovis/SceneObject.h
index 240c4650..d0298ab0 100644
--- a/octovis/include/octovis/SceneObject.h
+++ b/octovis/include/octovis/SceneObject.h
@@ -57,7 +57,7 @@ namespace octomap {
 
   public:
     SceneObject();
-    virtual ~SceneObject(){};
+    virtual ~SceneObject(){}
 
     /**
     * Actual draw function which will be called to visualize the object
@@ -67,7 +67,7 @@ namespace octomap {
     /**
     * Clears the object's representation (will be called when it gets invalid)
     */
-    virtual void clear(){};
+    virtual void clear(){}
 
   public:
     //! the color mode has to be set before calling OcTreDrawer::setMap()
@@ -95,8 +95,8 @@ namespace octomap {
   */
   class ScanGraphDrawer : public SceneObject {
   public:
-    ScanGraphDrawer(): SceneObject(){};
-    virtual ~ScanGraphDrawer(){};
+    ScanGraphDrawer(): SceneObject(){}
+    virtual ~ScanGraphDrawer(){}
 
     /**
     * Notifies drawer of a new or changed ScanGraph, so that the internal
diff --git a/octovis/include/octovis/ViewerSettings.h b/octovis/include/octovis/ViewerSettings.h
index 2d9e94e3..55708682 100644
--- a/octovis/include/octovis/ViewerSettings.h
+++ b/octovis/include/octovis/ViewerSettings.h
@@ -40,12 +40,12 @@ class ViewerSettings : public QDialog
 public:
     ViewerSettings(QWidget *parent = 0);
     ~ViewerSettings();
-    double getResolution(){return ui.resolution->value(); };
-    void setResolution(double resolution){ui.resolution->setValue(resolution);};
-    unsigned int getLaserType(){return ui.laserType->currentIndex(); };
-    void setLaserType(int type){ui.laserType->setCurrentIndex(type); };
-    double getMaxRange(){return ui.maxRange->value(); };
-    void setMaxRange(double range){ui.maxRange->setValue(range); };
+    double getResolution(){return ui.resolution->value(); }
+    void setResolution(double resolution){ui.resolution->setValue(resolution);}
+    unsigned int getLaserType(){return ui.laserType->currentIndex(); }
+    void setLaserType(int type){ui.laserType->setCurrentIndex(type); }
+    double getMaxRange(){return ui.maxRange->value(); }
+    void setMaxRange(double range){ui.maxRange->setValue(range); }
 
 private:
     Ui::ViewerSettingsClass ui;
diff --git a/octovis/src/extern/QGLViewer/VRender/Exporter.h b/octovis/src/extern/QGLViewer/VRender/Exporter.h
index e01b7eea..4bf5669b 100644
--- a/octovis/src/extern/QGLViewer/VRender/Exporter.h
+++ b/octovis/src/extern/QGLViewer/VRender/Exporter.h
@@ -60,7 +60,7 @@ namespace vrender
 	{
 		public:
 			Exporter() ;
-			virtual ~Exporter() {};
+			virtual ~Exporter() {}
 
 			virtual void exportToFile(const QString& filename,const std::vector<PtrPrimitive>&,VRenderParams&) ;
 
@@ -92,7 +92,7 @@ namespace vrender
 	{
 		public:
 			EPSExporter() ;
-			virtual ~EPSExporter() {};
+			virtual ~EPSExporter() {}
 
 		protected:
 			virtual void spewPoint(const Point *, QTextStream& out) ;
@@ -120,7 +120,7 @@ namespace vrender
 	class PSExporter: public EPSExporter
 	{
 		public:
-			virtual ~PSExporter() {};
+			virtual ~PSExporter() {}
 		protected:
 			virtual void writeFooter(QTextStream& out) const ;
 	};
@@ -129,7 +129,7 @@ namespace vrender
 	{
 		public:
 			FIGExporter() ;
-			virtual ~FIGExporter() {};
+			virtual ~FIGExporter() {}
 
 		protected:
 			virtual void spewPoint(const Point *, QTextStream& out) ;
diff --git a/octovis/src/extern/QGLViewer/camera.cpp b/octovis/src/extern/QGLViewer/camera.cpp
index 70dde8e3..45f028ce 100644
--- a/octovis/src/extern/QGLViewer/camera.cpp
+++ b/octovis/src/extern/QGLViewer/camera.cpp
@@ -199,8 +199,8 @@ void Camera::setScreenWidthAndHeight(int width, int height)
  \code
  class myCamera :: public qglviewer::Camera
  {
-   virtual qreal Camera::zNear() const { return 0.001; };
-   virtual qreal Camera::zFar() const { return 100.0; };
+   virtual qreal Camera::zNear() const { return 0.001; }
+   virtual qreal Camera::zFar() const { return 100.0; }
  }
  \endcode
 
diff --git a/octovis/src/extern/QGLViewer/constraint.h b/octovis/src/extern/QGLViewer/constraint.h
index d90d8203..cc1d8ad1 100644
--- a/octovis/src/extern/QGLViewer/constraint.h
+++ b/octovis/src/extern/QGLViewer/constraint.h
@@ -197,7 +197,7 @@ class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
 		  case MyAxisPlaneConstraint::FREE: ... break;
 		  case MyAxisPlaneConstraint::CUSTOM: ... break;
 		}
-	  };
+	  }
 
 	  MyAxisPlaneConstraint* c = new MyAxisPlaneConstraint();
 	  // Note the Type conversion
@@ -209,11 +209,11 @@ class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
 	/*! @name Translation constraint */
 	//@{
 	/*! Overloading of Constraint::constrainTranslation(). Empty */
-	virtual void constrainTranslation(Vec& translation, Frame* const frame) { Q_UNUSED(translation); Q_UNUSED(frame); };
+	virtual void constrainTranslation(Vec& translation, Frame* const frame) { Q_UNUSED(translation); Q_UNUSED(frame); }
 
 	void setTranslationConstraint(Type type, const Vec& direction);
 	/*! Sets the Type() of the translationConstraintType(). Default is AxisPlaneConstraint::FREE. */
-	void setTranslationConstraintType(Type type) { translationConstraintType_ = type; };
+	void setTranslationConstraintType(Type type) { translationConstraintType_ = type; }
 	void setTranslationConstraintDirection(const Vec& direction);
 
 	/*! Returns the translation constraint Type().
@@ -225,7 +225,7 @@ class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
 
 	Use Frame::setPosition() to define the position of the constrained Frame before it gets
 	constrained. */
-	Type translationConstraintType() const { return translationConstraintType_; };
+	Type translationConstraintType() const { return translationConstraintType_; }
 	/*! Returns the direction used by the translation constraint.
 
 	It represents the axis direction (AxisPlaneConstraint::AXIS) or the plane normal
@@ -235,20 +235,20 @@ class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
 	The AxisPlaneConstraint derived classes express this direction in different coordinate system
 	(camera for CameraConstraint, local for LocalConstraint, and world for WorldConstraint). This
 	value can be modified with setTranslationConstraintDirection(). */
-	Vec translationConstraintDirection() const { return translationConstraintDir_; };
+	Vec translationConstraintDirection() const { return translationConstraintDir_; }
 	//@}
 
 	/*! @name Rotation constraint */
 	//@{
 	/*! Overloading of Constraint::constrainRotation(). Empty. */
-	virtual void constrainRotation(Quaternion& rotation, Frame* const frame) { Q_UNUSED(rotation); Q_UNUSED(frame); };
+	virtual void constrainRotation(Quaternion& rotation, Frame* const frame) { Q_UNUSED(rotation); Q_UNUSED(frame); }
 
 	void setRotationConstraint(Type type, const Vec& direction);
 	void setRotationConstraintType(Type type);
 	void setRotationConstraintDirection(const Vec& direction);
 
 	/*! Returns the rotation constraint Type(). */
-	Type rotationConstraintType() const { return rotationConstraintType_; };
+	Type rotationConstraintType() const { return rotationConstraintType_; }
 	/*! Returns the axis direction used by the rotation constraint.
 
 	This direction is defined only when rotationConstraintType() is AxisPlaneConstraint::AXIS.
@@ -256,7 +256,7 @@ class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
 	The AxisPlaneConstraint derived classes express this direction in different coordinate system
 	(camera for CameraConstraint, local for LocalConstraint, and world for WorldConstraint). This
 	value can be modified with setRotationConstraintDirection(). */
-	Vec rotationConstraintDirection() const { return rotationConstraintDir_; };
+	Vec rotationConstraintDirection() const { return rotationConstraintDir_; }
 	//@}
 
 private:
@@ -280,7 +280,7 @@ class QGLVIEWER_EXPORT LocalConstraint : public AxisPlaneConstraint
 {
 public:
 	/*! Virtual destructor. Empty. */
-	virtual ~LocalConstraint() {};
+	virtual ~LocalConstraint() {}
 
 	virtual void constrainTranslation(Vec&     translation, Frame* const frame);
 	virtual void constrainRotation   (Quaternion& rotation, Frame* const frame);
@@ -300,7 +300,7 @@ class QGLVIEWER_EXPORT WorldConstraint : public AxisPlaneConstraint
 {
 public:
 	/*! Virtual destructor. Empty. */
-	virtual ~WorldConstraint() {};
+	virtual ~WorldConstraint() {}
 
 	virtual void constrainTranslation(Vec&     translation, Frame* const frame);
 	virtual void constrainRotation   (Quaternion& rotation, Frame* const frame);
@@ -321,13 +321,13 @@ class QGLVIEWER_EXPORT CameraConstraint : public AxisPlaneConstraint
 public:
 	explicit CameraConstraint(const Camera* const camera);
 	/*! Virtual destructor. Empty. */
-	virtual ~CameraConstraint() {};
+	virtual ~CameraConstraint() {}
 
 	virtual void constrainTranslation(Vec&     translation, Frame* const frame);
 	virtual void constrainRotation   (Quaternion& rotation, Frame* const frame);
 
 	/*! Returns the associated Camera. Set using the CameraConstraint constructor. */
-	const Camera* camera() const { return camera_; };
+	const Camera* camera() const { return camera_; }
 
 private:
 	const Camera* const camera_;