diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7362612..7f4f34c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,18 +7,20 @@ ADD_SUBDIRECTORY( octomap )
 ADD_SUBDIRECTORY( octovis )
 
 # make complete package release from source 
-SET(PKG_NAME "${PROJECT_NAME}.tar.gz")
-SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist")
-ADD_CUSTOM_TARGET("dist" 
-  rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${PKG_NAME}"
-  COMMAND mkdir "${DIST_DIR}"
-  COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
-  COMMAND tar -czf "${CMAKE_BINARY_DIR}/${PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
-    WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-)
-
-# also build subproject's dist for completeness
-ADD_DEPENDENCIES(dist dist-octomap dist-octovis)
-
+IF (NOT WIN32)
+	SET(PKG_NAME "${PROJECT_NAME}.tar.gz")
+	SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist")
+	ADD_CUSTOM_TARGET("dist" 
+	  rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${PKG_NAME}"
+	  COMMAND mkdir "${DIST_DIR}"
+	  COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
+	  COMMAND tar -czf "${CMAKE_BINARY_DIR}/${PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
+	    WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
+	)
+	
+	# also build subproject's dist for completeness
+	ADD_DEPENDENCIES(dist dist-octomap dist-octovis)
+ENDIF()
+	
 
 
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index 96d398aa..0b99db17 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -123,15 +123,17 @@ IF(DOXYGEN_FOUND)
 ENDIF(DOXYGEN_FOUND)
 
 # make package release from source
-SET(OCTOMAP_PKG_NAME "${PROJECT_NAME}-${OCTOMAP_VERSION}.tar.gz")
-SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist-${PROJECT_NAME}")
-ADD_CUSTOM_TARGET("dist-${PROJECT_NAME}" 
-	rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}"
-	COMMAND mkdir "${DIST_DIR}"
-	COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
-	COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
-		WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-)
+IF (NOT WIN32)
+	SET(OCTOMAP_PKG_NAME "${PROJECT_NAME}-${OCTOMAP_VERSION}.tar.gz")
+	SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist-${PROJECT_NAME}")
+	ADD_CUSTOM_TARGET("dist-${PROJECT_NAME}" 
+		rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}"
+		COMMAND mkdir "${DIST_DIR}"
+		COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
+		COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
+			WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
+	)
+ENDIF()
 
 # Needs to be last statement:
 INCLUDE(CPackSettings)
@@ -140,5 +142,5 @@ INCLUDE(CPackSettings)
 MESSAGE ("\n")
 MESSAGE (STATUS "Compile octomap using: make")
 MESSAGE (STATUS "Install octomap using: make install")
-MESSAGE (    "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
+MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
 MESSAGE (STATUS "Compile API-documentation using: make docs\n")
diff --git a/octomap/include/octomap/OcTreeBase.hxx b/octomap/include/octomap/OcTreeBase.hxx
index 6d40b190..e95fbcae 100644
--- a/octomap/include/octomap/OcTreeBase.hxx
+++ b/octomap/include/octomap/OcTreeBase.hxx
@@ -548,7 +548,7 @@ namespace octomap {
   std::istream& OcTreeBase<NODE>::read(std::istream &s) {
 
     if (!s.good()){
-      OCTOMAP_WARNING_STR(__PRETTY_FUNCTION__ << "Warning: Input filestream not \"good\"");
+      OCTOMAP_WARNING_STR(__FILE__ << ":" << __LINE__ << "Warning: Input filestream not \"good\"");
     }
 
     this->tree_size = 0;
diff --git a/octomap/include/octomap/OcTreeDataNode.hxx b/octomap/include/octomap/OcTreeDataNode.hxx
index 0e24f4ee..56727991 100644
--- a/octomap/include/octomap/OcTreeDataNode.hxx
+++ b/octomap/include/octomap/OcTreeDataNode.hxx
@@ -176,7 +176,7 @@ namespace octomap {
     s.read((char*)&children_char, sizeof(char));
 
 
-    std::bitset<8> children ((unsigned long) children_char);
+    std::bitset<8> children ((unsigned long long) children_char);
 
 //    std::cout << "read: " << log_odds_occupancy << " "
 //                << children.to_string<char,std::char_traits<char>,std::allocator<char> >() << std::endl;
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index c1143cd6..aa462b69 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -56,16 +56,21 @@ set(INSTALL_TARGETS_DEFAULT_ARGS
 SET( BUILD_VIEWER 0)
 
 # Look for required libraries:
-FIND_PACKAGE(OpenGL REQUIRED)
-FIND_PACKAGE(Qt4 REQUIRED)
-FIND_PACKAGE(QGLViewer)
-IF(QGLViewer_FOUND)
-  SET( BUILD_VIEWER 1)
+FIND_PACKAGE(OpenGL)
+FIND_PACKAGE(Qt4)
+IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND) 
+	MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")	
 ELSE()
-  MESSAGE ( "\n")
-  MESSAGE ( "libQGLViewer could not be found or generated.")
+	FIND_PACKAGE(QGLViewer)
+	IF(QGLViewer_FOUND)
+	  SET( BUILD_VIEWER 1)
+	ELSE()
+	  MESSAGE ( "\n")
+  	MESSAGE ( "libQGLViewer could not be found or generated.")
+	ENDIF()
 ENDIF()
 
+
 IF(BUILD_VIEWER)
   MESSAGE(STATUS "\n")
   MESSAGE(STATUS "viewer octovis will be built")
@@ -100,15 +105,17 @@ IF(BUILD_VIEWER)
     DESTINATION lib/cmake/octovis/)
     
   # make package release from source
-  SET(OCTOVIS_PKG_NAME "${PROJECT_NAME}-${OCTOVIS_VERSION}.tar.gz")
-  SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist-${PROJECT_NAME}")
-  ADD_CUSTOM_TARGET("dist-${PROJECT_NAME}" 
-    rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${OCTOVIS_PKG_NAME}"
-    COMMAND mkdir "${DIST_DIR}"
-    COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
-    COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOVIS_PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
-      WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-  )
+	IF (NOT WIN32)
+		SET(OCTOVIS_PKG_NAME "${PROJECT_NAME}-${OCTOVIS_VERSION}.tar.gz")
+		SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist-${PROJECT_NAME}")
+		ADD_CUSTOM_TARGET("dist-${PROJECT_NAME}" 
+		  rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${OCTOVIS_PKG_NAME}"
+		  COMMAND mkdir "${DIST_DIR}"
+		  COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
+		  COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOVIS_PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
+		    WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
+		)
+	ENDIF ()
     
   # #installation:
   # # store all header files to install:
diff --git a/octovis/CMakeLists_src.txt b/octovis/CMakeLists_src.txt
index 654dff1b..608702ba 100644
--- a/octovis/CMakeLists_src.txt
+++ b/octovis/CMakeLists_src.txt
@@ -70,10 +70,9 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_BINARY_DIR})
 add_library(octovis-static STATIC ${viewerlib_SRCS})
 target_link_libraries(octovis-static)
 set_target_properties(octovis-static PROPERTIES OUTPUT_NAME octovis)
-SET_TARGET_PROPERTIES(octovis-static PROPERTIES PREFIX "lib")
 
 add_library(octovis-shared SHARED ${viewerlib_SRCS})
-target_link_libraries(octovis-shared)
+target_link_libraries(octovis-shared ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} octomath octomap ${QGLViewer_LIBRARIES})
 set_target_properties(octovis-shared PROPERTIES OUTPUT_NAME octovis)
 
 
@@ -81,9 +80,8 @@ set_target_properties(octovis-shared PROPERTIES OUTPUT_NAME octovis)
 # If this is NOT done, then the ui_*.h files will not be generated
 add_executable(octovis ${viewer_SRCS} ${viewer_UIS_H} ${viewer_MOC_SRCS} ${viewer_RES})
 
-# link the target against the Qt libraries. which libraries exactly, is defined by the "include(${QT_USE_FILE})" line above, which sets up this variable.
 target_link_libraries(octovis 
-  ${QGLViewer_LIBRARIES}
+#  ${QGLViewer_LIBRARIES}
   ${QT_LIBRARIES}
   ${OCTOMAP_LIBRARIES}
   octovis-shared
diff --git a/octovis/CMakeModules/FindQGLViewer.cmake b/octovis/CMakeModules/FindQGLViewer.cmake
index be0a2752..7e032009 100644
--- a/octovis/CMakeModules/FindQGLViewer.cmake
+++ b/octovis/CMakeModules/FindQGLViewer.cmake
@@ -24,6 +24,7 @@ FIND_PATH( QGLViewer_INCLUDE_DIR qglviewer.h
 )
 
 FIND_LIBRARY( QGLViewer_LIBRARY_DIR_UBUNTU qglviewer-qt4 )
+FIND_LIBRARY( QGLViewer_LIBRARY_DIR_WINDOWS QGLViewer2 ${QGLVIEWER_BASE_DIR})
 FIND_LIBRARY( QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
 
 SET( BUILD_LIB_FROM_SOURCE 0)
@@ -36,8 +37,14 @@ IF( QGLViewer_INCLUDE_DIR )
     GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_UBUNTU} PATH CACHE )
     SET( QGLViewer_LIBRARIES qglviewer-qt4)
     SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
+  ELSEIF(QGLViewer_LIBRARY_DIR_WINDOWS)
+    # strip filename from path
+    GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_WINDOWS} PATH CACHE )
+    SET( QGLViewer_LIBRARIES QGLViewer2)
+    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
+    MESSAGE(STATUS "QGLViewer2.lib found in ${QGLViewer_LIBRARY_DIR}")
   ELSEIF(QGLViewer_LIBRARY_DIR_OTHER)
-    MESSAGE(STATUS "QGLViewer found in ${QGLViewer_LIBRARY_DIR_OTHER}")
+    MESSAGE(STATUS "QGLViewer found: ${QGLViewer_LIBRARY_DIR_OTHER}")
     # strip filename from path
     GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_OTHER} PATH CACHE )
     SET( QGLViewer_LIBRARIES QGLViewer)
@@ -51,54 +58,63 @@ IF( QGLViewer_INCLUDE_DIR )
 ELSE()
   SET( BUILD_LIB_FROM_SOURCE 1)
 ENDIF()
+	
+	# build own libQGLViewer
+	IF(BUILD_LIB_FROM_SOURCE)
+	
+		IF (WIN32)
+			MESSAGE("Cannot generate QGLViewer2 from source automatically.")
+			MESSAGE("Please build libQGLViewer from source, instructions to do so")
+		  MESSAGE("can be found in octovis/README.txt")
+		  MESSAGE("Please rerun CMAKE when you are ready.")
+	
+		ELSE (WIN32)
+			IF(QGLVIEWER_BASE_DIR)
+			  MESSAGE(STATUS "Trying to build libQGLViewer from source in ${QGLVIEWER_BASE_DIR}")
+			
+			  FIND_PROGRAM(QMAKE-QT4 qmake-qt4)
+			  IF (QMAKE-QT4)
+			    MESSAGE(STATUS "\t generating Makefile using qmake-qt4") 
+			    EXECUTE_PROCESS(
+			      WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
+			      COMMAND qmake-qt4
+			      OUTPUT_QUIET
+			    )
+			  ELSE(QMAKE-QT4)
+			    MESSAGE(STATUS "\t generating Makefile using qmake") 
+			    EXECUTE_PROCESS(
+			      WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
+			      COMMAND qmake-qt4
+			      OUTPUT_QUIET
+			    )
+			  ENDIF(QMAKE-QT4)
+			
+			  MESSAGE(STATUS "\t building library")
+			  EXECUTE_PROCESS(
+			    WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
+			    COMMAND make
+			    OUTPUT_QUIET
+			    )
+	  ENDIF(WIN32)
+		    
+	ELSE()
+	  MESSAGE(STATUS "QGLViewer sources NOT found. Exiting.")
+	ENDIF()
+	
+	FIND_LIBRARY(QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
+	FIND_PATH(QGLLIB libQGLViewer.so  ${QGLVIEWER_BASE_DIR})
 
-IF(BUILD_LIB_FROM_SOURCE)
-
-  # build own libQGLViewer
-  IF(QGLVIEWER_BASE_DIR)
-    MESSAGE(STATUS "Trying to build libQGLViewer from source in ${QGLVIEWER_BASE_DIR}")
-
-    FIND_PROGRAM(QMAKE-QT4 qmake-qt4)
-    IF (QMAKE-QT4)
-      MESSAGE(STATUS "\t generating Makefile using qmake-qt4") 
-      EXECUTE_PROCESS(
-        WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-        COMMAND qmake-qt4
-        OUTPUT_QUIET
-      )
-    ELSE(QMAKE-QT4)
-      MESSAGE(STATUS "\t generating Makefile using qmake") 
-      EXECUTE_PROCESS(
-        WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-        COMMAND qmake-qt4
-        OUTPUT_QUIET
-      )
-    ENDIF(QMAKE-QT4)
-
-    MESSAGE(STATUS "\t building library")
-    EXECUTE_PROCESS(
-      WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-      COMMAND make
-      OUTPUT_QUIET
-      )
-  ELSE()
-    MESSAGE(STATUS "QGLViewer sources NOT found. Exiting.")
-  ENDIF()
-
-  FIND_LIBRARY(QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
-  FIND_PATH(QGLLIB libQGLViewer.so  ${QGLVIEWER_BASE_DIR})
-
-  IF (NOT QGLLIB)
-    MESSAGE(STATUS "\nfailed to build libQGLViewer")
-    SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ELSE()
-    MESSAGE(STATUS "Successfully built ${QGLLIB}")
-    SET( QGLViewer_INCLUDE_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Include directory" FORCE)
-    SET( QGLViewer_LIBRARY_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Library directory" FORCE)
-    #  TODO: also include "m pthread  QGLViewerGen QGLViewerUtility"?
-    SET( QGLViewer_LIBRARIES QGLViewer)
-    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ENDIF()
+	IF (NOT QGLLIB)
+	  MESSAGE(STATUS "\nfailed to build libQGLViewer")
+	  SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" FORCE )
+	ELSE()
+	  MESSAGE(STATUS "Successfully built ${QGLLIB}")
+	  SET( QGLViewer_INCLUDE_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Include directory" FORCE)
+	  SET( QGLViewer_LIBRARY_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Library directory" FORCE)
+	  #  TODO: also include "m pthread  QGLViewerGen QGLViewerUtility"?
+	  SET( QGLViewer_LIBRARIES QGLViewer)
+	  SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
+	ENDIF()
 
 ENDIF()
 
diff --git a/octovis/src/CameraFollowMode.cpp b/octovis/src/CameraFollowMode.cpp
index 58802fb5..44a0a786 100644
--- a/octovis/src/CameraFollowMode.cpp
+++ b/octovis/src/CameraFollowMode.cpp
@@ -62,7 +62,7 @@ void CameraFollowMode::play() {
 		  if (scanNode)
 		    emit appendToCameraPath(ROBOT_TRAJECTORY_ID, scanNode->pose);
 		  else{
-		    std::cerr << "Error in " << __PRETTY_FUNCTION__<<": invalid node ID "<< i-1 << std::endl;
+		    std::cerr << "Error in " << __FILE__ << ":" << __LINE__ <<" : invalid node ID "<< i-1 << std::endl;
 		  }
 		}
 		emit playCameraPath(ROBOT_TRAJECTORY_ID, 0);
diff --git a/octovis/src/OcTreeDrawer.cpp b/octovis/src/OcTreeDrawer.cpp
index 3c8543eb..ac86eae3 100644
--- a/octovis/src/OcTreeDrawer.cpp
+++ b/octovis/src/OcTreeDrawer.cpp
@@ -761,13 +761,13 @@ namespace octomap {
       
       // draw binary occupied cells
       if (m_occupiedThresSize != 0) {
-        if (m_colorMode != CM_PRINTOUT) glColor4f(0.0, 0.0, 1.0, m_alphaOccupied);
+        if (m_colorMode != CM_PRINTOUT) glColor4f(0.0f, 0.0f, 1.0f, m_alphaOccupied);
         drawCubes(m_occupiedThresArray, m_occupiedThresSize, m_occupiedThresColorArray);
       }
 
       // draw delta occupied cells
       if (m_occupiedSize != 0) {
-        if (m_colorMode != CM_PRINTOUT) glColor4f(0.2, 0.7, 1.0, m_alphaOccupied);
+        if (m_colorMode != CM_PRINTOUT) glColor4f(0.2f, 0.7f, 1.0f, m_alphaOccupied);
         drawCubes(m_occupiedArray, m_occupiedSize, m_occupiedColorArray);
       }
     }
@@ -788,14 +788,14 @@ namespace octomap {
 
     // draw binary freespace cells
     if (m_freeThresSize != 0) {
-      if (m_colorMode != CM_PRINTOUT) glColor4f(0.0, 1.0, 0., 0.3);
+      if (m_colorMode != CM_PRINTOUT) glColor4f(0.0f, 1.0f, 0.0f, 0.3f);
       drawCubes(m_freeThresArray, m_freeThresSize);
     }
 
 
     // draw delta freespace cells
     if (m_freeSize != 0) {
-      if (m_colorMode != CM_PRINTOUT) glColor4f(0.5, 1.0, 0.1, 0.3);
+      if (m_colorMode != CM_PRINTOUT) glColor4f(0.5f, 1.0f, 0.1f, 0.3f);
       drawCubes(m_freeArray, m_freeSize);
     }
   }
@@ -942,7 +942,7 @@ namespace octomap {
 
     glPushMatrix();
 
-    float length = .15; 
+    float length = 0.15f; 
 
     GLboolean lighting, colorMaterial;
     glGetBooleanv(GL_LIGHTING, &lighting);
diff --git a/octovis/src/ViewerSettingsPanel.cpp b/octovis/src/ViewerSettingsPanel.cpp
index 15e065ae..d9fdf950 100644
--- a/octovis/src/ViewerSettingsPanel.cpp
+++ b/octovis/src/ViewerSettingsPanel.cpp
@@ -50,7 +50,7 @@ void ViewerSettingsPanel::on_nextScanButton_clicked(){
 }
 
 void ViewerSettingsPanel::on_fastFwdScanButton_clicked(){
-  unsigned increase = std::min(5, int(m_numberScans)-int(m_currentScan));
+  unsigned increase = min(5, int(m_numberScans)-int(m_currentScan));
   m_currentScan += increase;
   scanProgressChanged();
   emit addNextScans(increase);
@@ -70,7 +70,7 @@ void ViewerSettingsPanel::on_firstScanButton_clicked(){
 }
 
 void ViewerSettingsPanel::scanProgressChanged(){
-  ui.scanProgressBar->setMaximum(std::max(1,int(m_numberScans)));
+  ui.scanProgressBar->setMaximum(max(1,int(m_numberScans)));
 
   if (m_currentScan == m_numberScans){
     ui.nextScanButton->setEnabled(false);
@@ -116,7 +116,6 @@ void ViewerSettingsPanel::setTreeDepth(int depth){
 }
 
 void ViewerSettingsPanel::leafSizeChanged(){
-  double leafSize = m_resolution * pow(2,_TREE_MAX_DEPTH-m_treeDepth);
+  double leafSize = m_resolution * pow(2.0, (int) (_TREE_MAX_DEPTH-m_treeDepth));
   ui.leafSize->setText(QString::number(leafSize)+" m");
-
 }
diff --git a/octovis/src/ViewerWidget.cpp b/octovis/src/ViewerWidget.cpp
index f7eff2cb..01637317 100644
--- a/octovis/src/ViewerWidget.cpp
+++ b/octovis/src/ViewerWidget.cpp
@@ -26,9 +26,13 @@
 
 #include <octovis/ViewerWidget.h>
 
+#ifndef M_PI_2
+  #define M_PI_2 1.5707963267948966192E0
+#endif
+
 using namespace std;
 
-namespace octomap{
+namespace octomap {
 
 ViewerWidget::ViewerWidget(QWidget* parent) :
   QGLViewer(parent), m_zMin(0.0),m_zMax(1.0) {
@@ -51,7 +55,7 @@ void ViewerWidget::init() {
 }
 
 void ViewerWidget::resetView(){
-  this->camera()->setOrientation(-M_PI_2, M_PI_2);
+  this->camera()->setOrientation((float) -M_PI_2, (float) M_PI_2);
   this->showEntireScene();
   updateGL();