diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 09d35b4..dcefc6d 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -46,7 +46,7 @@ jobs:
     strategy:
       matrix:
         # active versions: https://devguide.python.org/versions/
-        python: ['3.9', '3.10', '3.11', '3.12', '3.13']
+        python: ['3.9', '3.10', '3.11', '3.12', '3.13', '3.14']
 
     steps:
     - uses: actions/checkout@v3
@@ -75,7 +75,7 @@ jobs:
     strategy:
       matrix:
         # active versions: https://devguide.python.org/versions/
-        python: ['3.9', '3.10', '3.11', '3.12', '3.13']
+        python: ['3.9', '3.10', '3.11', '3.12', '3.13', '3.14']
 
     steps:
       - uses: actions/checkout@v3
@@ -110,7 +110,7 @@ jobs:
     strategy:
       matrix:
         # active versions: https://devguide.python.org/versions/
-        python: ['3.9', '3.10', '3.11', '3.12', '3.13']
+        python: ['3.9', '3.10', '3.11', '3.12', '3.13', '3.14']
 
     steps:
       - uses: actions/checkout@v3
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f85edc..7bc2cf5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ option(LIBMOTIONCAPTURE_BUILD_PYTHON_BINDINGS "Generate Python Bindings" ON)
 option(LIBMOTIONCAPTURE_ENABLE_QUALISYS "Enable Qualisys" OFF)
 option(LIBMOTIONCAPTURE_ENABLE_OPTITRACK "Enable Optitrack" ON)
 option(LIBMOTIONCAPTURE_ENABLE_OPTITRACK_CLOSED_SOURCE "Enable Optitrack (Closed Source)" OFF)
-option(LIBMOTIONCAPTURE_ENABLE_VICON "Enable Vicon" OFF)
+option(LIBMOTIONCAPTURE_ENABLE_VICON "Enable Vicon" ON)
 option(LIBMOTIONCAPTURE_ENABLE_NOKOV "Enable Nokov" OFF)
 option(LIBMOTIONCAPTURE_ENABLE_VRPN "Enable VRPN" OFF)
 option(LIBMOTIONCAPTURE_ENABLE_FZMOTION "Enable FZMOTION" OFF)
@@ -18,7 +18,9 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-find_package(Boost 1.5 COMPONENTS system REQUIRED) # for optitrack
+find_package(Threads REQUIRED)
+
+find_package(Boost 1.5 REQUIRED) # for optitrack
 add_definitions(
   -DBOOST_DATE_TIME_NO_LIB
   -DBOOST_REGEX_NO_LIB
@@ -27,6 +29,15 @@ add_definitions(
 
 find_package(Eigen3 REQUIRED)
 
+# Handle both old and new Eigen3 package configurations
+if(NOT TARGET Eigen3::Eigen)
+  # Old-style Eigen3 package - create interface target
+  add_library(Eigen3::Eigen INTERFACE IMPORTED)
+  set_target_properties(Eigen3::Eigen PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR};${EIGEN3_INCLUDE_DIRS}"
+  )
+endif()
+
 set(VICON_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/vicon-datastream-sdk/)
 set(QUALISYS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/qualisys_cpp_sdk/)
 set(NATNET_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/NatNetSDKCrossplatform/)
@@ -87,7 +98,8 @@ if (LIBMOTIONCAPTURE_ENABLE_OPTITRACK)
   )
   set(my_libraries
     ${my_libraries}
-    Boost::system
+    Boost::boost
+    Threads::Threads
   )
 endif()
 
@@ -232,7 +244,10 @@ target_link_directories(libmotioncapture PUBLIC
   ${my_link_directories}
 )
 target_link_libraries(libmotioncapture
-  ${my_libraries}
+  PUBLIC
+    Eigen3::Eigen
+  PRIVATE
+    ${my_libraries}
 )
 set_property(TARGET libmotioncapture PROPERTY POSITION_INDEPENDENT_CODE ON)
 
diff --git a/deps/vicon-datastream-sdk b/deps/vicon-datastream-sdk
index a21c9c8..a5096f2 160000
--- a/deps/vicon-datastream-sdk
+++ b/deps/vicon-datastream-sdk
@@ -1 +1 @@
-Subproject commit a21c9c8e5fd797e4833e19b78ad310d857c2f6c1
+Subproject commit a5096f283f484acca98b434c08810cd922551701
diff --git a/setup.py b/setup.py
index 8094014..305fe9b 100644
--- a/setup.py
+++ b/setup.py
@@ -45,6 +45,11 @@ def build_extension(self, ext):
             "-DCMAKE_BUILD_TYPE={}".format(cfg),  # not used on MSVC, but no harm
             "-DCMAKE_POLICY_VERSION_MINIMUM=3.5" # to make sure vrpn compiles
         ]
+        
+        # Add CMAKE_TOOLCHAIN_FILE for vcpkg on Windows
+        if "CMAKE_TOOLCHAIN_FILE" in os.environ:
+            cmake_args += ["-DCMAKE_TOOLCHAIN_FILE={}".format(os.environ["CMAKE_TOOLCHAIN_FILE"])]
+        
         build_args = []
 
         if self.compiler.compiler_type != "msvc":