diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee4999956..8060517b6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16)
 project("Pangolin")
 set(PANGOLIN_VERSION_MAJOR 0)
 set(PANGOLIN_VERSION_MINOR 9)
-set(PANGOLIN_VERSION_PATCH 3)
+set(PANGOLIN_VERSION_PATCH 4)
 set(PANGOLIN_VERSION ${PANGOLIN_VERSION_MAJOR}.${PANGOLIN_VERSION_MINOR}.${PANGOLIN_VERSION_PATCH})
 
 if(NOT CMAKE_CXX_STANDARD)
diff --git a/components/pango_video/CMakeLists.txt b/components/pango_video/CMakeLists.txt
index e912b87a8..77bbb9aab 100644
--- a/components/pango_video/CMakeLists.txt
+++ b/components/pango_video/CMakeLists.txt
@@ -234,6 +234,18 @@ create_factory_registry_file( "${CMAKE_CURRENT_BINARY_DIR}/include/pangolin/fact
 target_sources(${COMPONENT} PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/include/pangolin/factory/RegisterFactoriesVideoInterface.h")
 target_sources(${COMPONENT} PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/include/pangolin/factory/RegisterFactoriesVideoOutputInterface.h")
 
+if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+    # ignore errors in librealsense2 headers
+    target_compile_options(${COMPONENT} PUBLIC
+        -Wno-error=ignored-qualifiers
+        -Wno-error=sign-compare
+        -Wno-error=deprecated-copy
+        -Wno-error=missing-field-initializers
+        -Wno-error=missing-field-initializers
+        -Wno-error=pessimizing-move
+    )
+endif()
+
 
 if(BUILD_TESTS)
     add_executable(test_video_uris ${CMAKE_CURRENT_LIST_DIR}/tests/tests_video_uri.cpp)
diff --git a/components/pango_video/src/drivers/ffmpeg.cpp b/components/pango_video/src/drivers/ffmpeg.cpp
index ff0b29a36..140d22f77 100644
--- a/components/pango_video/src/drivers/ffmpeg.cpp
+++ b/components/pango_video/src/drivers/ffmpeg.cpp
@@ -261,7 +261,7 @@ FfmpegVideo::~FfmpegVideo()
     av_free(pFrameOut);
     av_free(pFrame);
 
-    avcodec_close(pCodecContext);
+    avcodec_free_context(&pCodecContext);
     avformat_close_input(&pFormatCtx);
     sws_freeContext(img_convert_ctx);
 }
diff --git a/components/pango_video/src/drivers/ffmpeg_output.cpp b/components/pango_video/src/drivers/ffmpeg_output.cpp
index 975bc65f4..2376950fc 100644
--- a/components/pango_video/src/drivers/ffmpeg_output.cpp
+++ b/components/pango_video/src/drivers/ffmpeg_output.cpp
@@ -199,7 +199,7 @@ FfmpegVideoOutputStream::~FfmpegVideoOutputStream()
     }
 
     av_free(frame);
-    avcodec_close(codec_context);
+    avcodec_free_context(&codec_context);
 }
 
 FfmpegVideoOutput::FfmpegVideoOutput(const std::string& filename, int base_frame_rate, int bit_rate, bool flip_image)
diff --git a/package.xml b/package.xml
index 272f59aae..41f22f7d8 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>pangolin</name>
-  <version>0.9.3</version>
+  <version>0.9.4</version>
   <description>Pangolin is a set of lightweight and portable utility libraries for prototyping 3D, numeric or video based programs and algorithms.</description>
   <maintainer email="stevenlovegrove@gmail.com">Steven Lovegrove</maintainer>
   <maintainer email="Rauch.Christian@gmx.de">Christian Rauch</maintainer>
@@ -15,7 +15,7 @@
   <depend>python3-dev</depend>
   <build_depend>eigen</build_depend>
   <depend>libpng-dev</depend>
-  <depend>libturbojpeg</depend>
+  <depend>libjpeg</depend>
   <depend>libxkbcommon-dev</depend>
   <depend>opengl</depend>
   <build_depend>wayland-dev</build_depend>