v0.9.36: November 13, 2014 * No major changes since rc5 v0.9.35rc6: October 13th, 2014 * Better support for Kinect V2 camera v0.9.35rc5: September 30th, 2014 * Support for Kinect V2 camera (SDK version: Kinect for Windows SDK 2.0 Public Preview 2.0.1409.10000) * Support below monitor camera mounting location * Completely new kinematic hand model * Finger-precise mode is now on by default * Significantly more accurate finger tracking * Add a High-quality mode (-Q1 mode) * High-quality mode is on by default * Fix for a scale calibration bug * Some performance fixes for C# client ** Should be somewhat faster * Added the --smooth option to apply smoothing to the tracking data * Added the FlipCamera option to deal with upside-down cameras v0.9.34: April 18th, 2014 * Removing dependency on Visual Studio 2010 v0.9.33: April 7th, 2014 * Preliminary support for Unity (See SDK/CSharpExamples/Unity) * Fixed bug that resulted in tracking drop outs when hands were close to desk * Removed deprecated support for custom hand profiles * More robust hand scale calibration * Support for long sequence streaming of compressed videos with --stream option * Fixed bug in memory mapped file specification * Fixed bug in C++ API MessageType enum documentation v0.9.32: January 20th, 2014 * Support for latest PrimeSense firmware (v5.9.2) and OpenNI (v2.2) * Renamed software to Nimble SDK; Changed handdriver.bat -> nimble_server.bat * Significantly improved tracking stability / robustness * Database precomputation happens 'on the fly' now, when running HandTrackingServer ** You'll never have to manually resample your database again ** The database sampling process is also 15x faster. * Reduced latency on PrimeSense Carmine / Asus Xtion Pro / Live sensors * Merged GesturalApps into the SDK/ directory * Removed dependency on boost, wxWidgets, bullet in C++ SDK * Switched to Visual Studio 2012 C++ redistributable * Updates to the API ** Added finger degrees of freedom corresponding to physical finger joints ** Added camera parameters to the WELCOME message (number of cameras, camera extrinsics and intrinsics) ** Added OpenCVCamera class to access newly exposed camera parameters * Cricket Defender and Xylophone now track index finger point direction instead of hand forward direction * Hands are hidden in DebugViewer (and HandViewer) when they are not being tracked with confidence * Removed Dashboard application v0.9.30: September 13th, 2013 * Support for AMD processors (Athlon II, FX, etc.). ** Removed reliance on any instructions > SSE2 * Easier installation ** Storing data to default location in user's local application data * Better non-administrator user support on Windows ** Storing GenericProfile in user's local application data * Performance improvements v0.9.29: August 26th, 2013 * Much better handling of swapping of left and right hands * Changed database format. You'll need to re-sample your database: * C:\...\GesturalUserInterface> handcalibration.bat sample * Fixed a rare crash in HandTrackingServer * Lower latency HandViewer application (hand_viewer.bat) v0.9.28: August 7th, 2013 * Tracking arbitrary 10-finger motion (beta) * Significantly more robust behavior when the hands touch * Significantly more robust behavior when the arm becomes occluded * Exposing access to raw depth data to client apps via a memory mapped file * Accuracy improvements to hand scale calibration * Easier to get started with Heart Demo and Cricket Defender * Better background subtraction through keyboard / desk detection v0.9.27: July 2nd, 2013 * Faster, more accurate scale calibration (on by default) * Significantly better hand orientation tracking * Explicit checks for if a server or DebugViewer is already running on Windows. v0.9.26: June 13th, 2013 * Reduced latency by 50ms for example applications on Mac OS X * Heart demo now has a detailed tutorial. * Bug fixes in Dashboard make it less prone to pick up swipes. * Dashboard enables control of volume. * Updated Troubleshooting page to be less misleading. * Installer for Windows * Including libusb in Mac OS X distribution * Removing OpenCV dependence on highgui * Significantly improved performance of CricketDefender, Xylophone on Mac * Increased range of pronation / supination of the forearm tracking. v0.9.25: May 3rd, 2013 * Bug fix release relating to loading DLLs on Windows v0.9.24: May 1st, 2013 * Significant improvements to the Dashboard application ** Relative mapping for more accurate control ** Double-click works * Bug fixes to the way we load Kinect/OpenNI/OpenNI2 libraries in both Mac and Windows * Debug Viewer now reconnects to HandTrackingServer automatically v0.9.23: April 17th, 2013 * Significant improvements to tracking robustness in certain situations. * Better hand segmentation for when the wrists are bent. * Bug fixes and more stable, smoother tracking for mouse control with the Dashboard. * Bug fixes for the cricket, xylophone and other demos on the Mac. * Added feature for writing the last N frames to a file from the DebugViewer v0.9.22: April 3rd, 2013 * Support for single camera. The easiest way to get started is by getting a 3Gear DevKit. ** See the new Get Started page: http://www.threegear.com/getStarted.html * New quick-start hand calibration process takes five seconds: ** See the new Setup page: http://www.threegear.com/doc/setup-osx.html * Better differentiation of the left and right hand. * Much better performance in the presence of long sleeves. * New "Dashboard" application provides various mappings for the mouse. v0.9.21: February 26th, 2013 * Added preliminary support for C# (thanks to Ohan Oda for the port!) * Added support for OpenNI v2.1 (note: you should only use this with Asus and PrimeSense cameras currently) * Some more verbose error messages to help in debugging Kinect/OpenNI issues. * Protocol has been updated to report confidence scores for each pose in the PoseMessage. See updated documentation for details. * Protocol version = 3. v0.9.19: February 1st, 2013 * Fix for internationalization issue in DebugViewer (symptoms were weird "spiky" artifacts in the template hand). * C++ API is now documented using Doxygen. * Java API is now documented using Javadoc (still some parts missing). * Most of gestural API should now build under Visual Studio 2008. * Vec3f and Quaternionf classes in API have been rewritten to be more useful. * Use of REUSEADDR to eliminate "can't bind to port" errors on Mac. * Roughly 5% speed improvement on Windows due to better compiler options. * Wrist should be substantially smoother. * Fix for occasional failure during hand calibration where the scans would be badly misaligned. v0.9.18: January 3rd, 2013 * Improvements to pinch detection * More robust hand detection / segmentation * Adding Dino Eggs game (dino_eggs.bat) to distribution. * Adding Cricket Defender game (cricket_defender.bat) to distribution. * Adding Xylophone game (xylophone.bat) to distribution. v0.9.17: December 13th, 2012 * Improvements to tracking quality * Added new demo program Heart Exploration Demo (heart_demo.bat) * Fixed bug in camera calibration * Fixed bug in individually-pressed detection that was losing pinches. * Added --force-hand option in shape / pose calibration useful for single-handed calibration. * Other minor bug fixes * Packaging data directory and binaries in a single easier-to-install zip-file. * Minor speed-ups in tracking v0.9.16: November 26th, 2012 * Adding one week grace period for requesting a license. * Including shared libraries folder in GesturalApps directory / distribution. * Support for Mac OS X v0.9.15: November 24th, 2012 * Significantly less error-prone hand shape calibration. ** Fixed NullPointer crash when one hand was not being calibrated correctly. * Removed dependence on JavaFX * Pimpl'd HandTrackingClient library in GesturalApps/CppExamples so that it can be included with minimal dependencies. * Upgraded dependent shared libraries for wxWidgets (2.8.12 to 2.9.4), Eigen (3.0.5 to 3.1.1) and Boost (1.48 to 1.50) * Support for loading licenses for use after November 30th * Updated evaluation license and added commercial license agreements. v0.9.14: November 8th, 2012 * Fixed a bug in the background subtraction for Kinect for Windows * Fixed a bug that occasionally crashed the system due to NaNs in pose estimate * Fixed bug in the description of pose messages in the protocol documentation * Upgrading libraries and removing dependencies on Intel MKL. * Updated camera model -- you'll need to re-do camera calibration ** Run camerasetup.bat ** Then, resample your database: handcalibration.bat sample YourProfileName * Hid implementation of HandTrackingClient in CPP file so that the header file doesn't include asio and boost::thread anymore * Better error messages when we can't connect to server * Reduced default memory requirements for handcalibration.bat to 3GB v0.9.13: October 30th, 2012 * Added --force-hand option to hand tracking server (see handdriver.bat --help) * Fixed bug for setting num-threads in hand tracking server * Fixed synchronization issue leading to crashing of hand calibration (shape and pose) * Including CHANGELOG.txt in distribution v0.9.12: October 29th, 2012 * Significantly easier and more accurate camera calibration ** You'll need to overwrite the contents of your data directory with the zip file gestural_useR_interface_data.zip ** We recommend re-calibrating your camera by running camerasetup.bat again ** You can resample your hand calibration as follows. * Changed database format in anticipation of support for single camera. Run: ** handcalibration.bat sample YourProfileName v0.9.11: October 22nd, 2012 * Fixed issues with European locales that use "," instead of "." for decimals. * Better documentation and error reporting for Kinect driver issues. v0.9.10: October 11th, 2012 * Fixed bug associated with freezes in hand shape calibration and pose calibration (due to zero length scans). * Detecting mistaken use of Microsoft Kinect SDK with Xbox 360 * Minor updates / fixed typos in the documentation * Better error messages from the OpenNI and Kinect for Windows drivers v0.9.9: October 9th, 2012 * Printing version number in camerasetup.bat, cameracalibrationtest.bat and handcalibration.bat * Upgraded to Kinect for Windows version 1.6 * Minor updates / fixed typos in the documentation v0.9.8: October 4th, 2012 * Minor correction in documentation * Fixed bug associated with working in a path with spaces v0.9.7: October 2nd, 2012 * Support for Kinect for Windows cameras v0.9.6: September 20th, 2012 * Significantly more accurate hand orientation estimate. * Significantly more precise (less jitter) hand position estimate. * Significantly more accurate wrist angle estimate * Fixed several issues causing failures in pinch detection * Fixed several bugs that were hampering both shape and pose calibration * More robust background subtraction * Added POINT message indicating the precise index finger tip point to the protocol and API * Updated documenation about hand calibration * Made "hand point" returned in protocol and API roughly track the tip of the thumb. * Minor UI improvements to CADTool * Added "trainer" programs (assembly_trainer.bat and rotation_trainer.bat) to help users more quickly familiarize themselves with 3D interaction. * Added "pointing demo" (pointing_demo.bat) which shows off using the POINT message to track a finger tip. * Upgraded Java FX from version 2.1 to 2.2 * Hand tracking server now uses all threads available on the computer. v0.9.5: August 20th, 2012 * Exposed skinning information through protocol and API * Significantly expanded and cleaned up API * Protocol includes new USER and WELCOME messages and more readable / debuggable message formats * Downgraded to requesting for at most an OpenGL 3.0 context (GL2 in JOGL) * Smoother, more accurate hand-tracking ** Hand is more stable for pinch / release gestures * Proper handling of CPU-specific SSE functionality * Requires sample operations on existing hand profiles to work. Run: ** handcalibration.bat sample YourProfileName v0.9.4: August 7th, 2012 * Faster, more responsive hand tracking server ** 30% less latency ** 40% less CPU usage ** 50% less memory usage ** 10% faster * Updated protocol and API to expose skeleton data, simultaneous press ** Pose message expose skeleton and finger-tip information. ** Simultaneous Press, Release messages make bimanual gestures easier to program. * New debug viewer shows depth images and hand segmentation. It can also be closed without stopping the server. * Rotation in CADTool now snaps to the closest axis * Requires sample operations on existing hand profiles to work. Run: ** handcalibration.bat sample YourProfileName v0.9.3: July 20th, 2012 * Added support for the "spread" pose. ** Requires shape and sample operations on existing hand profiles to work. Run: ** handcalibration.bat shape YourProfileName ** handcalibration.bat sample YourProfileName * Switch from JOGL v1.1.1 to JOGL v2.0-rc9 for visualization * Bug fixes around hand scanner v0.9.2: July 12th, 2012 * Improved documentation * Minor bugfixes in real-time hand-tracking