diff --git a/doc/DevSetup.md b/doc/DevSetup.md
index 9f8f180..c698247 100644
--- a/doc/DevSetup.md
+++ b/doc/DevSetup.md
@@ -1,14 +1,14 @@
 
 
 ### Clang-format
-We use clang-format to maintain a consistent formating of the code. Since there are small differences between different version of clang-format we use version 10 on all platforms.
+We use clang-format to maintain a consistent formating of the code. Since there are small differences between different version of clang-format we use version 11 on all platforms.
 
-On **Ubuntu 20.04 or 18.04** run the following commands to install clang-format-10
+On **Ubuntu 20.04 or 18.04** run the following commands to install clang-format-11
 ```
 wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
-sudo sh -c 'echo "deb http://apt.llvm.org/$(lsb_release -sc)/ llvm-toolchain-$(lsb_release -sc)-10 main" > /etc/apt/sources.list.d/llvm10.list'
+sudo sh -c 'echo "deb http://apt.llvm.org/$(lsb_release -sc)/ llvm-toolchain-$(lsb_release -sc)-11 main" > /etc/apt/sources.list.d/llvm11.list'
 sudo apt-get update
-sudo apt-get install clang-format-10
+sudo apt-get install clang-format-11
 ```
 
 On **MacOS** [Homebrew](https://brew.sh/) should install the right version of clang-format:
@@ -53,7 +53,7 @@ Go to `Tools` -> `Options` and select the Beautifier tab. There select ClangForm
 
 ![qt_creator_beautifier_general](/doc/img/qt_creator_beautifier_general.png)
 
-Select file as predefined style in `Clang Format` tab. Also select `None` as the fallback style. For **Ubuntu 20.04 or 18.04** change the executable name to `/usr/bin/clang-format-10`.
+Select file as predefined style in `Clang Format` tab. Also select `None` as the fallback style. For **Ubuntu 20.04 or 18.04** change the executable name to `/usr/bin/clang-format-11`.
 
 ![qt_creator_beautifier_clang_format](/doc/img/qt_creator_beautifier_clang_format.png)
 
diff --git a/docker/b_image_bionic/Dockerfile b/docker/b_image_bionic/Dockerfile
index e051b82..f16e50b 100644
--- a/docker/b_image_bionic/Dockerfile
+++ b/docker/b_image_bionic/Dockerfile
@@ -3,9 +3,9 @@ FROM ubuntu:18.04
 RUN apt-get update && apt-get install -y wget gnupg 
 
 RUN wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key| apt-key add -
-RUN echo "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-10 main" > /etc/apt/sources.list.d/llvm10.list
+RUN echo "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-11 main" > /etc/apt/sources.list.d/llvm11.list
 
 RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
 RUN echo "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" > /etc/apt/sources.list.d/realsense.list
 
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y cmake git libtbb-dev libeigen3-dev libglew-dev ccache libjpeg-dev libpng-dev openssh-client liblz4-dev libbz2-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libopencv-dev libpython2.7-dev libgtest-dev lsb-core gcovr ggcov lcov librealsense2-dev librealsense2-gl-dev librealsense2-dkms librealsense2-utils doxygen graphviz libsuitesparse-dev clang-10 clang-format-10
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y cmake git libtbb-dev libeigen3-dev libglew-dev ccache libjpeg-dev libpng-dev openssh-client liblz4-dev libbz2-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libopencv-dev libpython2.7-dev libgtest-dev lsb-core gcovr ggcov lcov librealsense2-dev librealsense2-gl-dev librealsense2-dkms librealsense2-utils doxygen graphviz libsuitesparse-dev clang-11 clang-format-11
diff --git a/docker/b_image_focal/Dockerfile b/docker/b_image_focal/Dockerfile
index d7f4711..d8d2735 100644
--- a/docker/b_image_focal/Dockerfile
+++ b/docker/b_image_focal/Dockerfile
@@ -3,9 +3,9 @@ FROM ubuntu:20.04
 RUN apt-get update && apt-get install -y wget gnupg 
 
 RUN wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key| apt-key add -
-RUN echo "deb http://apt.llvm.org/focal/ llvm-toolchain-focal-10 main" > /etc/apt/sources.list.d/llvm10.list
+RUN echo "deb http://apt.llvm.org/focal/ llvm-toolchain-focal-11 main" > /etc/apt/sources.list.d/llvm11.list
 
 RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
 RUN echo "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" > /etc/apt/sources.list.d/realsense.list
 
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y cmake git libtbb-dev libeigen3-dev libglew-dev ccache libjpeg-dev libpng-dev openssh-client liblz4-dev libbz2-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libopencv-dev libpython2.7-dev libgtest-dev lsb-core gcovr ggcov lcov librealsense2-dev librealsense2-gl-dev librealsense2-dkms librealsense2-utils doxygen graphviz libsuitesparse-dev clang-10 clang-format-10
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y cmake git libtbb-dev libeigen3-dev libglew-dev ccache libjpeg-dev libpng-dev openssh-client liblz4-dev libbz2-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libopencv-dev libpython2.7-dev libgtest-dev lsb-core gcovr ggcov lcov librealsense2-dev librealsense2-gl-dev librealsense2-dkms librealsense2-utils doxygen graphviz libsuitesparse-dev clang-11 clang-format-11
diff --git a/scripts/clang-format-all.sh b/scripts/clang-format-all.sh
index a51c886..f2d1572 100755
--- a/scripts/clang-format-all.sh
+++ b/scripts/clang-format-all.sh
@@ -9,7 +9,7 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 FOLDER="${1:-$SCRIPT_DIR/../include $SCRIPT_DIR/../src $SCRIPT_DIR/../test/src}"
 
-CLANG_FORMAT_COMMANDS="clang-format-10 clang-format-9 clang-format-8 clang-format"
+CLANG_FORMAT_COMMANDS="clang-format-11 clang-format-10 clang-format-9 clang-format"
 
 # find the first available command:
 for CMD in $CLANG_FORMAT_COMMANDS; do