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