A few simple changes to some basic open frameworks ofxOpenNi examples and I had a simple way to get skeleton data (via OSC) and syphon streams of the depth image, colour image and mask image from the kinect. At the time I copied the data structure of OSCeleton. Not so sure if this is useful to anyone since Nimate but this one at least is free.

You can download the toolkit here, but use it at your own risk I am not really supporting this at the moment but it works quite well.