Kinect2.0+OpenCV获取骨骼图

我用的是OpenCV3
在代码里进行了坐标转换，把CameraSpace转到DepthSpace。
然后用和示例代码（D2D的）里一样的方式进行绘制，但是由于Opencv里自带的显示图像的窗口默认以BGR3通道显示图像，Alpha值无法表示出来，所以，手势的半透明效果无法展示。最重要的一点，这程序运行起来的CPU占用率居然连1% 都不到，D2D那个要20%+。

#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/videoio.hpp"
#include <iostream>
#include <Kinect.h>  
#pragma comment ( lib, "kinect20.lib" )  

using namespace cv;
using namespace std;

template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
    if (pInterfaceToRelease != NULL) 
    {
        pInterfaceToRelease->Release();
        pInterfaceToRelease = NULL;
    }
}

void DrawBone(JointType b, JointType c, ICoordinateMapper*coordinatemapper,Joint joint[], Mat&a)
{
    DepthSpacePoint d1, d2;
    coordinatemapper->MapCameraPointToDepthSpace(joint[b].Position, &d1);
    coordinatemapper->MapCameraPointToDepthSpace(joint[c].Position, &d2);
    if(d1.X>0&&d1.X<512&&d1.Y>0&&d1.Y<424&& d2.X>0 && d2.X<512 && d2.Y>0 && d2.Y<424)
        line(a, Point(d1.X, d1.Y), Point(d2.X, d2.Y), Scalar(0, 255, 0, 255), 3);
    else
        line(a, Point(d1.X, d1.Y), Point(d2.X, d2.Y), Scalar(255, 255, 255, 255), 1);
    circle(a, Point(d1.X, d1.Y), 2, Scalar(255, 255, 255, 255), 4);
    circle(a, Point(d2.X, d2.Y), 2, Scalar(255, 255, 255, 255), 4);
}
int main()
{
    HRESULT hResult = S_OK;     
    IKinectSensor *kinect;          
    GetDefaultKinectSensor(&kinect);
    kinect->Open();     
    IBodyFrameSource*bodysource;
    kinect->get_BodyFrameSource(&bodysource);
    IBodyFrameReader*bodyreader;
    bodysource->OpenReader(&bodyreader);
    ICoordinateMapper* coordinatemapper;
    kinect->get_CoordinateMapper(&coordinatemapper);

    while (1)
    {
        Mat asd(424, 512, CV_8UC4);
        IBodyFrame* bodyframe = nullptr;
        hResult = bodyreader->AcquireLatestFrame(&bodyframe);
        if (SUCCEEDED(hResult))
        {
            IBody* body[BODY_COUNT] = { 0 };
            hResult = bodyframe->GetAndRefreshBodyData(BODY_COUNT, body);
            if (SUCCEEDED(hResult))
            {
                for (int i = 0; i < BODY_COUNT; i++)
                {
                    BOOLEAN tracked = false;
                    hResult = body[i]->get_IsTracked(&tracked);
                    if (SUCCEEDED(hResult) && tracked)
                    {

                        Joint joint[JointType_Count];
                        hResult = body[i]->GetJoints(JointType_Count, joint);
                        DepthSpacePoint depthspacepoint;

                        if (SUCCEEDED(hResult))
                        {
                            // Torso
                            DrawBone(JointType_Head, JointType_Neck,coordinatemapper,joint,asd);
                            DrawBone(JointType_Neck, JointType_SpineShoulder, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineShoulder, JointType_SpineMid, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineMid, JointType_SpineBase, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineShoulder, JointType_ShoulderRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineShoulder, JointType_ShoulderLeft, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineBase, JointType_HipRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_SpineBase, JointType_HipLeft, coordinatemapper, joint, asd);

                            // Right Arm 
                            DrawBone(JointType_ShoulderRight, JointType_ElbowRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_ElbowRight, JointType_WristRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_WristRight, JointType_HandRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_HandRight, JointType_HandTipRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_WristRight, JointType_ThumbRight, coordinatemapper, joint, asd);

                            // Left Arm
                            DrawBone( JointType_ShoulderLeft, JointType_ElbowLeft, coordinatemapper, joint, asd);
                            DrawBone(JointType_ElbowLeft, JointType_WristLeft, coordinatemapper, joint, asd);
                            DrawBone(JointType_WristLeft, JointType_HandLeft, coordinatemapper, joint, asd);
                            DrawBone(JointType_HandLeft, JointType_HandTipLeft, coordinatemapper, joint, asd);
                            DrawBone(JointType_WristLeft, JointType_ThumbLeft, coordinatemapper, joint, asd);

                            // Right Leg
                            DrawBone(JointType_HipRight, JointType_KneeRight, coordinatemapper, joint, asd);
                            DrawBone(JointType_KneeRight, JointType_AnkleRight, coordinatemapper, joint, asd);
                            DrawBone( JointType_AnkleRight, JointType_FootRight, coordinatemapper, joint, asd);

                            // Left Leg
                            DrawBone( JointType_HipLeft, JointType_KneeLeft, coordinatemapper, joint, asd);
                            DrawBone( JointType_KneeLeft, JointType_AnkleLeft, coordinatemapper, joint, asd);
                            DrawBone( JointType_AnkleLeft, JointType_FootLeft, coordinatemapper, joint, asd);

                            DepthSpacePoint d1, d2;
                            coordinatemapper->MapCameraPointToDepthSpace(joint[JointType_HandLeft].Position, &d1);
                            coordinatemapper->MapCameraPointToDepthSpace(joint[JointType_HandRight].Position, &d2);
                            HandState left;
                            body[i]->get_HandLeftState(&left);
                            HandState right;
                            body[i]->get_HandRightState(&right);
                            switch (left)
                            {
                            case HandState_Closed:
                                circle(asd,Point(d1.X,d1.Y),10,Scalar(0,0,255,1),20); break;
                            case HandState_Open:
                                circle(asd, Point(d1.X, d1.Y), 10, Scalar(0, 255, 0, 1), 20); break;
                            case HandState_Lasso:
                                circle(asd, Point(d1.X, d1.Y), 10, Scalar(255, 0, 0, 1), 20); break;
                            default:
                                break;
                            }
                            switch (right)
                            {
                            case HandState_Closed:
                                circle(asd, Point(d2.X, d2.Y), 10, Scalar(0, 0, 255, 1), 20); break;
                            case HandState_Open:
                                circle(asd, Point(d2.X, d2.Y), 10, Scalar(0, 255, 0, 1), 20); break;
                            case HandState_Lasso:
                                circle(asd, Point(d2.X, d2.Y), 10, Scalar(255, 0, 0, 1), 20); break;
                            default:
                                break;
                            }
                        }
                    }
                }
            }
            for (int count = 0; count < BODY_COUNT; count++)
            {
                SafeRelease(body[count]);
            }
        }

        SafeRelease(bodyframe);

        imshow("aaaaaaa", asd);
        if (waitKey(33) == VK_ESCAPE)
        {
            break;
        }
    }
    SafeRelease(bodysource);
    SafeRelease(bodyreader);
    SafeRelease(coordinatemapper);
    if (kinect) {
        kinect->Close();
    }
    SafeRelease(kinect);
    destroyAllWindows();
}
运行图：

运行时的资源截图：