diff --git a/CHANGELOG.md b/CHANGELOG.md
index 94b94ce..febad39 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,14 @@
+# clara-viz 0.3.2 (November 27 2023)
+
+## Features
+
+* Support camera pose for non-stereo cases as well
+
+## Bug Fixes
+
+* Fix cmake warnings and consolidate cmake_minimum_required() usage
+* Fix compile warning in NvEnvService.cpp
+
 # clara-viz 0.3.1 (July 12 2023)
 
 ## Bug Fixes
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 698176b..f12b4f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.24...3.26)
 
 # Options
 option(CLARA_VIZ_CUDA_PROFILING "Enable CUDA profiling" OFF)
@@ -25,7 +25,7 @@ include(ExternalProject)
 
 project(ClaraViz
     DESCRIPTION "ClaraViz"
-    VERSION 0.3.1
+    VERSION 0.3.2
     LANGUAGES CXX
 )
 
diff --git a/Dockerfile.claravizrenderserver b/Dockerfile.claravizrenderserver
index 1d5e606..fff6f30 100644
--- a/Dockerfile.claravizrenderserver
+++ b/Dockerfile.claravizrenderserver
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 ARG DOCKER_HUB
-FROM ${DOCKER_HUB}nvidia/cuda:11.2.0-base-ubuntu18.04
+FROM ${DOCKER_HUB}nvidia/cuda:11.2.2-base-ubuntu18.04
 
 WORKDIR /app
 
diff --git a/Dockerfile_aarch64.build b/Dockerfile_aarch64.build
index 09f816e..46a1a69 100644
--- a/Dockerfile_aarch64.build
+++ b/Dockerfile_aarch64.build
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 ARG DOCKER_HUB
-FROM ${DOCKER_HUB}nvidia/cuda:11.2.0-devel-ubuntu18.04
+FROM ${DOCKER_HUB}nvidia/cuda:11.2.2-devel-ubuntu18.04
 
 # install dependencies
 #  * wget, ca-certificates: to download packages
@@ -44,7 +44,7 @@ RUN mkdir /tmp/git-lfs \
     && rm -rf /tmp/git-lfs
 
 # Install cmake
-ARG CMAKE_VERSION="3.21.0"
+ARG CMAKE_VERSION="3.24.0"
 RUN mkdir /tmp/cmake \
     && cd /tmp/cmake \
     && ARCH=$(uname -m) \
diff --git a/bin/aarch64/ClaraVizRenderServer b/bin/aarch64/ClaraVizRenderServer
index 45d6cfb..ba396f9 100755
Binary files a/bin/aarch64/ClaraVizRenderServer and b/bin/aarch64/ClaraVizRenderServer differ
diff --git a/bin/x86_64/ClaraVizRenderServer b/bin/x86_64/ClaraVizRenderServer
index 69366de..410e801 100755
Binary files a/bin/x86_64/ClaraVizRenderServer and b/bin/x86_64/ClaraVizRenderServer differ
diff --git a/cmake/Project.cmake b/cmake/Project.cmake
index 9008824..d28e088 100644
--- a/cmake/Project.cmake
+++ b/cmake/Project.cmake
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 macro(setup_project)
     # avoid 'Up-to-date' install messages
     set(CMAKE_INSTALL_MESSAGE LAZY)
diff --git a/cmake/Tools.cmake b/cmake/Tools.cmake
index 8155410..e7e0bb8 100644
--- a/cmake/Tools.cmake
+++ b/cmake/Tools.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include(CMakeParseArguments)
 
 # Add custom commands to process ``.proto`` files to C++::
diff --git a/cmake/clara_viz_rendererConfig.cmake b/cmake/clara_viz_rendererConfig.cmake
index 2af2fbc..86a3c81 100644
--- a/cmake/clara_viz_rendererConfig.cmake
+++ b/cmake/clara_viz_rendererConfig.cmake
@@ -107,12 +107,12 @@ endif()
 # Import target "clara::viz::renderer" for configuration "Release"
 set_property(TARGET clara::viz::renderer APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(clara::viz::renderer PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}/libclara_viz_renderer.so.0.3.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}/libclara_viz_renderer.so.0.3.2"
   IMPORTED_SONAME_RELEASE "libclara_viz_renderer.so.0"
   )
 
 list(APPEND _cmake_import_check_targets clara::viz::renderer )
-list(APPEND _cmake_import_check_files_for_clara::viz::renderer "${_IMPORT_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}/libclara_viz_renderer.so.0.3.1" )
+list(APPEND _cmake_import_check_files_for_clara::viz::renderer "${_IMPORT_PREFIX}/lib/${CMAKE_SYSTEM_PROCESSOR}/libclara_viz_renderer.so.0.3.2" )
 
 # Cleanup temporary variables.
 set(_IMPORT_PREFIX)
diff --git a/cmake/clara_viz_rendererConfigVersion.cmake b/cmake/clara_viz_rendererConfigVersion.cmake
index c4a2747..4b5ca15 100644
--- a/cmake/clara_viz_rendererConfigVersion.cmake
+++ b/cmake/clara_viz_rendererConfigVersion.cmake
@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "0.3.1")
+set(PACKAGE_VERSION "0.3.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("0.3.1" MATCHES "^([0-9]+)\\.")
+  if("0.3.2" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "0.3.1")
+    set(CVF_VERSION_MAJOR "0.3.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)
diff --git a/lib/aarch64/libclara_viz_renderer.so.0 b/lib/aarch64/libclara_viz_renderer.so.0
index 298bd85..bf761e8 120000
--- a/lib/aarch64/libclara_viz_renderer.so.0
+++ b/lib/aarch64/libclara_viz_renderer.so.0
@@ -1 +1 @@
-libclara_viz_renderer.so.0.3.1
\ No newline at end of file
+libclara_viz_renderer.so.0.3.2
\ No newline at end of file
diff --git a/lib/aarch64/libclara_viz_renderer.so.0.3.1 b/lib/aarch64/libclara_viz_renderer.so.0.3.2
similarity index 89%
rename from lib/aarch64/libclara_viz_renderer.so.0.3.1
rename to lib/aarch64/libclara_viz_renderer.so.0.3.2
index 5d61ec7..072c345 100644
Binary files a/lib/aarch64/libclara_viz_renderer.so.0.3.1 and b/lib/aarch64/libclara_viz_renderer.so.0.3.2 differ
diff --git a/lib/x86_64/libclara_viz_renderer.so.0 b/lib/x86_64/libclara_viz_renderer.so.0
index 298bd85..bf761e8 120000
--- a/lib/x86_64/libclara_viz_renderer.so.0
+++ b/lib/x86_64/libclara_viz_renderer.so.0
@@ -1 +1 @@
-libclara_viz_renderer.so.0.3.1
\ No newline at end of file
+libclara_viz_renderer.so.0.3.2
\ No newline at end of file
diff --git a/lib/x86_64/libclara_viz_renderer.so.0.3.1 b/lib/x86_64/libclara_viz_renderer.so.0.3.2
similarity index 88%
rename from lib/x86_64/libclara_viz_renderer.so.0.3.1
rename to lib/x86_64/libclara_viz_renderer.so.0.3.2
index 0b8dc60..5d89df2 100755
Binary files a/lib/x86_64/libclara_viz_renderer.so.0.3.1 and b/lib/x86_64/libclara_viz_renderer.so.0.3.2 differ
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a42f589..1406fd1 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -12,11 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.24...3.26)
+
+# set CMP0148 policy to OLD to allow FindCUDA
+if(POLICY CMP0146)
+    cmake_policy(SET CMP0146 OLD)
+endif()
 
 project(ClaraVizServer
     DESCRIPTION "ClaraVizServer"
-    VERSION 0.3.1
+    VERSION 0.3.2
     LANGUAGES CXX
 )
 
diff --git a/src/claraviz/CMakeLists.txt b/src/claraviz/CMakeLists.txt
index f25715e..24ad8e3 100644
--- a/src/claraviz/CMakeLists.txt
+++ b/src/claraviz/CMakeLists.txt
@@ -11,7 +11,6 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-cmake_minimum_required(VERSION 3.12)
 
 ######################
 # core
diff --git a/src/claraviz/hardware/nvenc/NvEncService.cpp b/src/claraviz/hardware/nvenc/NvEncService.cpp
index daa794f..fcd3464 100644
--- a/src/claraviz/hardware/nvenc/NvEncService.cpp
+++ b/src/claraviz/hardware/nvenc/NvEncService.cpp
@@ -260,7 +260,10 @@ struct NvEncService::Impl
 {
     ~Impl() = default;
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wignored-attributes"
     UniqueObj<void, decltype(&dlclose), &dlclose> nvenc_lib; ///< NvEnc lib handle
+#pragma GCC diagnostic pop
 
     NV_ENCODE_API_FUNCTION_LIST nvenc; ///< NvEnc API
 };
diff --git a/src/claraviz/interface/CameraInterface.cpp b/src/claraviz/interface/CameraInterface.cpp
index a267037..df59693 100644
--- a/src/claraviz/interface/CameraInterface.cpp
+++ b/src/claraviz/interface/CameraInterface.cpp
@@ -16,6 +16,8 @@
 
 #include "claraviz/interface/CameraInterface.h"
 
+#include <algorithm>
+
 #include "claraviz/util/Validator.h"
 
 namespace clara::viz
@@ -26,7 +28,8 @@ DEFINE_CLASS_MESSAGEID(CameraInterface::Message);
 
 template<>
 CameraInterface::DataIn::Camera::Camera()
-    : eye(Vector3f(0.f, 0.f, -1.f),
+    : enable_pose(false)
+    , eye(Vector3f(0.f, 0.f, -1.f),
           [this](const Vector3f &value) { ValidatorDifferent(value, look_at.Get(), "Eye position and look at point"); })
     , look_at(Vector3f(0.f, 0.f, 0.f),
               [this](const Vector3f &value) { ValidatorDifferent(value, eye.Get(), "Look at point and eye position"); })
@@ -149,10 +152,12 @@ CameraInterface::DataOut CameraInterface::Get()
         CameraInterface::DataOut::Camera &camera_out = data_out.cameras.back();
 
         camera_out.name                 = camera_in.name;
+        camera_out.enable_pose          = camera_in.enable_pose;
         camera_out.eye                  = camera_in.eye.Get();
         camera_out.look_at              = camera_in.look_at.Get();
         camera_out.up                   = camera_in.up.Get();
         camera_out.field_of_view        = camera_in.field_of_view.Get();
+        camera_out.pose                 = camera_in.pose;
         camera_out.pixel_aspect_ratio   = camera_in.pixel_aspect_ratio.Get();
         camera_out.enable_stereo        = camera_in.enable_stereo;
         camera_out.left_eye_pose        = camera_in.left_eye_pose;
diff --git a/src/claraviz/interface/CameraInterface.h b/src/claraviz/interface/CameraInterface.h
index c9476d9..beda0cf 100644
--- a/src/claraviz/interface/CameraInterface.h
+++ b/src/claraviz/interface/CameraInterface.h
@@ -30,15 +30,20 @@ namespace clara::viz
  * Camera interface data definition.
  *
  * Defines the 3D viewing transformation.
- * The the head pose is set by the 'eye', 'look_at' and 'up' parameters.
+ *
+ * If 'enable_pose' is 'false', the head pose is set by the 'eye', 'look_at' and 'up' parameters. Else
+ * if 'enable_pose' is 'true' the head pose is set by the 'pose' parameter.
+ *
  * The ViewInterfaceData::stereo_mode setting determines the camera setup.
- * If stereo mode is 'OFF' then the image is rendered from the head pose and field of view is set using 'field_of_view'.
- * If stereo mode is 'LEFT' or 'RIGHT' then the the left or right eye image is rendered as set by 'left_eye_pose'
+ *
+ * - If stereo mode is 'OFF' then the image is rendered from the head pose  and field of view is set using 'field_of_view'.
+ * - If stereo mode is 'LEFT' or 'RIGHT' then the the left or right eye image is rendered as set by 'left_eye_pose'
  * or 'right_eye_pose'.
- * If stereo mode is 'TOP_BOTTOM' then he left eye is rendered to the top half of the image and the right eye to the
+ * - If stereo mode is 'TOP_BOTTOM' then he left eye is rendered to the top half of the image and the right eye to the
  * bottom half of the image.
- * If stereo mode is 'LEFT', 'RIGHT' or TOP_BOTTOM', the field of view is set using 'left_tangent_x', 'left_tangent_y',
+ * - If stereo mode is 'LEFT', 'RIGHT' or TOP_BOTTOM', the field of view is set using 'left_tangent_x', 'left_tangent_y',
  * 'right_tangent_x' and 'right_tangent_y'. The 'field_of_view` parameter is ignored.
+ *
  * Also when stereo rendering is enabled, `left_gaze_direction` and `right_gaze_direction` are used the determine
  * the position of the high resolution area when using warped rendering. @sa RenderSettingsInterfaceData::enable_warp.
  */
@@ -62,28 +67,42 @@ struct CameraInterfaceData
         std::string name;
 
         /**
-         * Position of the eye point, has to be different from 'look_at'
+         * Enable use of 'pose' parameter instead of 'eye', 'look_at' and 'up'.
+         *
+         * Default: false
+         */
+        bool enable_pose;
+
+        /**
+         * Position of the eye point, has to be different from 'look_at'. Used when 'enable_pose' is 'false'.
          *
          * Default: (0.0, 0.0, -1.0)
          */
         V<Vector3f> eye;
 
         /**
-         * Position of the reference point, has to be different from 'eye'
+         * Position of the reference point, has to be different from 'eye'. Used when 'enable_pose' is 'false'.
          *
          * Default: (0.0, 0.0, 0.0)
          */
         V<Vector3f> look_at;
 
         /**
-         * Direction of the up vector, has to be a unit vector
+         * Direction of the up vector, has to be a unit vector. Used when 'enable_pose' is 'false'.
          *
          * Default: (0.0, 1.0, 0.0)
          */
         V<Vector3f> up;
 
         /**
-         * Field of view angle in degrees, in x direction
+         * Camera pose. Used when 'enable_pose' is 'true'.
+         *
+         * Default: identity matrix
+         */
+        Matrix4x4 pose;
+
+        /**
+         * Field of view angle in degrees, in x direction.
          *
          * Default: 30.0
          *
diff --git a/src/claraviz/interface/JsonInterface.cpp b/src/claraviz/interface/JsonInterface.cpp
index 985c2f6..1f3420d 100644
--- a/src/claraviz/interface/JsonInterface.cpp
+++ b/src/claraviz/interface/JsonInterface.cpp
@@ -190,9 +190,11 @@ void to_json(nlohmann::json &j, const CameraInterface::DataIn::Camera &camera)
 {
     j = nlohmann::json{
         {"name", camera.name},
+        {"enablePose", camera.enable_pose},
         {"eye", camera.eye.Get()},
         {"lookAt", camera.look_at.Get()},
         {"up", camera.up.Get()},
+        {"pose", camera.pose},
         {"fieldOfView", camera.field_of_view.Get()},
         {"pixelAspectRatio", camera.pixel_aspect_ratio.Get()},
         {"enableStereo", camera.enable_stereo},
@@ -213,10 +215,12 @@ void to_json(nlohmann::json &j, const CameraInterface::DataIn::Camera &camera)
 
 void from_json(const nlohmann::json &j, CameraInterface::DataIn::Camera &camera)
 {
-    camera.name = j.value("name", camera.name);
+    camera.name        = j.value("name", camera.name);
+    camera.enable_pose = j.value("enablePose", camera.enable_pose);
     camera.eye.Set(j.value("eye", camera.eye.Get()));
     camera.look_at.Set(j.value("lookAt", camera.look_at.Get()));
     camera.up.Set(j.value("up", camera.up.Get()));
+    camera.pose = j.value("leftEyePose", camera.pose);
     camera.field_of_view.Set(j.value("fieldOfView", camera.field_of_view.Get()));
     camera.pixel_aspect_ratio.Set(j.value("pixelAspectRatio", camera.pixel_aspect_ratio.Get()));
     camera.enable_stereo  = j.value("enableStereo", camera.enable_stereo);
diff --git a/src/claraviz/rpc/CameraRPC.cpp b/src/claraviz/rpc/CameraRPC.cpp
index 3f4c0f9..fd75652 100644
--- a/src/claraviz/rpc/CameraRPC.cpp
+++ b/src/claraviz/rpc/CameraRPC.cpp
@@ -30,6 +30,16 @@ void CameraContext::ExecuteRPC(nvidia::claraviz::core::CameraRequest &request,
 
     CameraInterface::DataIn::Camera *camera = access->GetOrAddCamera(request.name());
 
+    switch (request.enable_pose())
+    {
+    case nvidia::claraviz::core::SWITCH_ENABLE:
+        camera->enable_pose = true;
+        break;
+    case nvidia::claraviz::core::SWITCH_DISABLE:
+        camera->enable_pose = false;
+        break;
+    }
+
     if (request.has_eye())
     {
         camera->eye.Set(MakeVector3f(request.eye()));
@@ -43,6 +53,11 @@ void CameraContext::ExecuteRPC(nvidia::claraviz::core::CameraRequest &request,
         camera->up.Set(MakeVector3f(request.up()));
     }
 
+    if (request.has_pose())
+    {
+        camera->pose = MakeMatrix4x4(request.pose());
+    }
+
     if (request.field_of_view() != 0.f)
     {
         camera->field_of_view.Set(request.field_of_view());
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 1cc4f3b..91346ac 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 add_subdirectory(claravizrenderer-ui)
 
 if (CLARA_VIZ_WITH_GRPC)
diff --git a/src/examples/claravizrenderer-ui/CMakeLists.txt b/src/examples/claravizrenderer-ui/CMakeLists.txt
index fd0a5fb..e21ff7c 100644
--- a/src/examples/claravizrenderer-ui/CMakeLists.txt
+++ b/src/examples/claravizrenderer-ui/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include(GNUInstallDirs)
 
 find_package(clara_viz_renderer REQUIRED)
diff --git a/src/examples/renderer/CMakeLists.txt b/src/examples/renderer/CMakeLists.txt
index 5ce1851..4a6e81c 100644
--- a/src/examples/renderer/CMakeLists.txt
+++ b/src/examples/renderer/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include(GNUInstallDirs)
 
 set(PROJECT_NAME ExampleRenderServer)
diff --git a/src/examples/renderer/Dockerfile.renderer b/src/examples/renderer/Dockerfile.renderer
index c8b2519..7ab033d 100644
--- a/src/examples/renderer/Dockerfile.renderer
+++ b/src/examples/renderer/Dockerfile.renderer
@@ -33,7 +33,7 @@ COPY ./src/examples/renderer/gen_volume.py .
 RUN python3 gen_volume.py volume
 
 ARG DOCKER_HUB
-FROM ${DOCKER_HUB}nvidia/cuda:11.2.0-base-ubuntu18.04
+FROM ${DOCKER_HUB}nvidia/cuda:11.2.2-base-ubuntu18.04
 
 ARG VOLUME_FILE="/app/volume.mhd"
 ENV VOLUME_FILE_ENV=$VOLUME_FILE
diff --git a/src/examples/renderer/ui/package.json b/src/examples/renderer/ui/package.json
index 09ee66e..9a0f6a3 100644
--- a/src/examples/renderer/ui/package.json
+++ b/src/examples/renderer/ui/package.json
@@ -1,6 +1,6 @@
 {
   "name": "claraviz-example",
-  "version": "0.3.1",
+  "version": "0.3.2",
   "description": "RenderServer example",
   "dependencies": {
     "@grpc/proto-loader": "^0.6.9",
diff --git a/src/examples/volumestreamrenderer/CMakeLists.txt b/src/examples/volumestreamrenderer/CMakeLists.txt
index 53db8aa..9a3e3b8 100644
--- a/src/examples/volumestreamrenderer/CMakeLists.txt
+++ b/src/examples/volumestreamrenderer/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include(GNUInstallDirs)
 
 set(PROJECT_NAME VolumeStreamRenderer)
diff --git a/src/examples/volumestreamrenderer/ui/package.json b/src/examples/volumestreamrenderer/ui/package.json
index 721772c..e67ce20 100644
--- a/src/examples/volumestreamrenderer/ui/package.json
+++ b/src/examples/volumestreamrenderer/ui/package.json
@@ -1,6 +1,6 @@
 {
   "name": "ui",
-  "version": "0.3.1",
+  "version": "0.3.2",
   "private": true,
   "dependencies": {
     "@material-ui/core": "^4.11.0",
diff --git a/src/examples/web-client/CMakeLists.txt b/src/examples/web-client/CMakeLists.txt
index ff4b990..51742b3 100644
--- a/src/examples/web-client/CMakeLists.txt
+++ b/src/examples/web-client/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 find_package(gRPC REQUIRED CONFIG)
 find_package(grpc-web REQUIRED CONFIG)
 
diff --git a/src/nvrpc/CMakeLists.txt b/src/nvrpc/CMakeLists.txt
index c9d1f26..6f1f588 100644
--- a/src/nvrpc/CMakeLists.txt
+++ b/src/nvrpc/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
-cmake_minimum_required(VERSION 3.12)
-
 set(PROJECT_NAME nv_rpc)
 
 add_library(${PROJECT_NAME} STATIC)
diff --git a/src/protos/CMakeLists.txt b/src/protos/CMakeLists.txt
index dda2d31..44849f5 100644
--- a/src/protos/CMakeLists.txt
+++ b/src/protos/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 set(PROJECT_NAME clara_viz_proto)
 
 add_library(${PROJECT_NAME} STATIC)
diff --git a/src/protos/nvidia/claraviz/core/camera.proto b/src/protos/nvidia/claraviz/core/camera.proto
index a0d0b26..4a411d1 100644
--- a/src/protos/nvidia/claraviz/core/camera.proto
+++ b/src/protos/nvidia/claraviz/core/camera.proto
@@ -20,26 +20,53 @@ package nvidia.claraviz.core;
 
 import "nvidia/claraviz/core/types.proto";
 
-// Message sent by the client for the `Camera` method.
-// Defines the 3D viewing transformation.
+/**
+ * Message sent by the client for the `Camera` method.
+ *
+ * Defines the 3D viewing transformation.
+ *
+ * If 'enable_pose' is 'SWITCH_DISABLE', the head pose is set by the 'eye', 'look_at' and 'up' parameters. Else
+ * if 'enable_pose' is 'SWITCH_ENABLE' the head pose is set by the 'pose' parameter.
+ *
+ * The ViewRequest::stereo_mode setting determines the camera setup.
+ *
+ * - If stereo mode is 'STEREO_MODE_OFF' then the image is rendered from the head pose  and field of view is set using 'field_of_view'.
+ * - If stereo mode is 'STEREO_MODE_LEFT' or 'STEREO_MODE_RIGHT' then the the left or right eye image is rendered as set by 'left_eye_pose'
+ * or 'right_eye_pose'.
+ * - If stereo mode is 'STEREO_MODE_TOP_BOTTOM' then he left eye is rendered to the top half of the image and the right eye to the
+ * bottom half of the image.
+ * - If stereo mode is 'STEREO_MODE_LEFT', 'STEREO_MODE_RIGHT' or STEREO_MODE_TOP_BOTTOM', the field of view is set using 'left_tangent_x', 'left_tangent_y',
+ * 'right_tangent_x' and 'right_tangent_y'. The 'field_of_view` parameter is ignored.
+ *
+ * Also when stereo rendering is enabled, `left_gaze_direction` and `right_gaze_direction` are used the determine
+ * the position of the high resolution area when using warped rendering. @sa RenderSettingsInterfaceData::enable_warp.
+ */
 message CameraRequest
 {
     // Name
     // Default: ""
     string name = 6;
 
-    // Position of the eye point, has to be different from 'look_at'
+    // Enable use of 'pose' parameter instead of 'eye', 'look_at' and 'up'.
+    // Default: SWITCH_DISABLE
+    Switch enable_pose = 18;
+
+    // Position of the eye point, has to be different from 'look_at'. Used when 'enable_pose' is 'SWITCH_DISABLE'.
     // Default: (0.0, 0.0, -1.0)
     Float3 eye = 1;
 
-    // Position of the reference point, has to be different from 'eye'
+    // Position of the reference point, has to be different from 'eye'. Used when 'enable_pose' is 'SWITCH_DISABLE'.
     // Default: (0.0, 0.0, 0.0)
     Float3 look_at = 2;
 
-    // Direction of the up vector, has to be a unit vector
+    // Direction of the up vector, has to be a unit vector. Used when 'enable_pose' is 'SWITCH_DISABLE'.
     // Default: (0.0, 1.0, 0.0)
     Float3 up = 3;
 
+    // Camera pose. Used when 'enable_pose' is 'SWITCH_ENABLE'.
+    // Default: identity matrix
+    Matrix4x4 pose = 19;
+
     // Field of view angle in degrees, in x direction
     // Default: 30.0
     // Range: ]0.0, 180.0[
diff --git a/thirdparty/CMakeLists.txt b/thirdparty/CMakeLists.txt
index 4453847..32ee53b 100644
--- a/thirdparty/CMakeLists.txt
+++ b/thirdparty/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 add_subdirectory(cuda_helper)
 add_subdirectory(nlohmann_json)
 if (CLARA_VIZ_WITH_OPENH264)
diff --git a/thirdparty/cuda_helper/CMakeLists.txt b/thirdparty/cuda_helper/CMakeLists.txt
index 246e8da..d8a8995 100644
--- a/thirdparty/cuda_helper/CMakeLists.txt
+++ b/thirdparty/cuda_helper/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
 include(ExternalProject)
 
diff --git a/thirdparty/grpc-web/CMakeBuild.patch b/thirdparty/grpc-web/CMakeBuild.patch
index d63e61d..ac8d549 100644
--- a/thirdparty/grpc-web/CMakeBuild.patch
+++ b/thirdparty/grpc-web/CMakeBuild.patch
@@ -1,7 +1,7 @@
 diff -Naur o/CMakeLists.txt n/CMakeLists.txt
 --- o/CMakeLists.txt	1970-01-01 01:00:00.000000000 +0100
 +++ n/CMakeLists.txt	2019-01-09 13:42:26.408739488 +0100
-@@ -0,0 +1,52 @@
+@@ -0,0 +1,50 @@
 +# Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved.
 +#
 +# Licensed under the Apache License, Version 2.0 (the "License");
@@ -16,8 +16,6 @@ diff -Naur o/CMakeLists.txt n/CMakeLists.txt
 +# See the License for the specific language governing permissions and
 +# limitations under the License.
 +
-+cmake_minimum_required(VERSION 3.12)
-+
 +set(PROJECT_NAME protoc-gen-grpc-web)
 +
 +find_package(Protobuf CONFIG REQUIRED)
diff --git a/thirdparty/grpc-web/CMakeLists.txt b/thirdparty/grpc-web/CMakeLists.txt
index c098d98..a4fee6f 100644
--- a/thirdparty/grpc-web/CMakeLists.txt
+++ b/thirdparty/grpc-web/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
 
 prebuild_setup(VERSION_VAR grpc-web_VERSION)
diff --git a/thirdparty/grpc/CMakeLists.txt b/thirdparty/grpc/CMakeLists.txt
index f3ce4e3..e438699 100644
--- a/thirdparty/grpc/CMakeLists.txt
+++ b/thirdparty/grpc/CMakeLists.txt
@@ -12,17 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.13)
-
 include(GNUInstallDirs)
 include(FetchContent)
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
 
 prebuild_setup(VERSION_VAR gRPC_VERSION)
 
-# silence a warning about 'ZLIB_ROOT' usage
-cmake_policy(SET CMP0074 OLD)
-
 ExternalProject_Add(gRPC_src
     PREFIX grpc
     GIT_REPOSITORY https://github.com/grpc/grpc.git
diff --git a/thirdparty/nlohmann_json/CMakeLists.txt b/thirdparty/nlohmann_json/CMakeLists.txt
index 7b59ad3..ea62fc4 100644
--- a/thirdparty/nlohmann_json/CMakeLists.txt
+++ b/thirdparty/nlohmann_json/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -11,7 +11,6 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-cmake_minimum_required(VERSION 3.12)
 
 include(FetchContent)
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
@@ -21,6 +20,7 @@ prebuild_setup(VERSION_VAR nlohmann_json_VERSION)
 FetchContent_Declare(
     nlohmann_json
     URL https://github.com/nlohmann/json/archive/refs/tags/${nlohmann_json_VERSION}.tar.gz
+    DOWNLOAD_EXTRACT_TIMESTAMP True
 )
 set(JSON_BuildTests OFF CACHE INTERNAL "")
 set(JSON_Install OFF)
diff --git a/thirdparty/openh264/CMakeLists.txt b/thirdparty/openh264/CMakeLists.txt
index 289c3ba..7c7b486 100644
--- a/thirdparty/openh264/CMakeLists.txt
+++ b/thirdparty/openh264/CMakeLists.txt
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
 
 prebuild_setup(VERSION_VAR OpenH264_VERSION)
diff --git a/thirdparty/openssl/CMakeLists.txt b/thirdparty/openssl/CMakeLists.txt
index 05138d7..c025a2d 100644
--- a/thirdparty/openssl/CMakeLists.txt
+++ b/thirdparty/openssl/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.12)
-
 include("${CLARA_VIZ_PUBLIC_CMAKE_TOOLS_DIR}/Tools.cmake")
 
 prebuild_setup(VERSION_VAR OPENSSL_VERSION)