将位图图像（Kinect v2）转换为Emgu Image时，“不支持URI格式”

Question

I am working on an project where I want to use Kinect camera 2 (SDK v2), with Emgu library (2.4.10.1940).

First I converted the Kinect ColorFrame to BitmapSource and then from BitmapSource to Drawing.Bitmap . When I try to convert from Drawing.Bitmap to Image<Bgr, Byte> , I get an "A first chance exception of type 'System.ArgumentException' occurred in mscorlib.dll. Additional information: URI formats are not supported".

Does anyone has an idea, or can someone prompt me of how I can do it with another way?

Below you will find the code I used.

  public MainWindow() { InitializeComponent(); kinectSensor = KinectSensor.GetDefault(); if (kinectSensor == null) return; FrameDescription colorFrameDescription = kinectSensor.ColorFrameSource.FrameDescription; colorReader = kinectSensor.ColorFrameSource.OpenReader(); colorPixels = new byte[colorFrameDescription.Width * colorFrameDescription.Height * BytePerPixel]; colorBitmap = new WriteableBitmap(colorFrameDescription.Width, colorFrameDescription.Height, 96.0, 96.0, PixelFormats.Bgr32, null); kinectSensor.Open(); colorReader.FrameArrived += colorReader_FrameArrived; kinectSensor.IsAvailableChanged += kinectSensor_IsAvailableChanged; StatusText = kinectSensor.IsAvailable ? "Running" : "Kinect sensor not available"; } void colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e) { using (ColorFrame colorFrame = e.FrameReference.AcquireFrame()) { if (colorFrame == null) return; FrameDescription colorFrameDesc = colorFrame.FrameDescription; // Check if the pixelWidth and pixelHeight is right if ((colorFrameDesc.Width == colorBitmap.PixelWidth) && (colorFrameDesc.Height == colorBitmap.PixelHeight)) { // Check if the image format is right. if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra) colorFrame.CopyRawFrameDataToArray(this.colorPixels); else colorFrame.CopyConvertedFrameDataToArray(this.colorPixels, ColorImageFormat.Bgra); // Write pixels to BitmapSource format colorBitmap.WritePixels(new Int32Rect(0, 0, colorFrameDesc.Width, colorFrameDesc.Height), colorPixels, colorFrameDesc.Width * BytePerPixel, 0); // Convert to Drawing.Bitmap image System.Drawing.Bitmap bmap = BitmapImage2Bitmap(colorBitmap); // Convert to Emgu image (This is where I get my error). Emgu.CV.Image<Bgr, byte> imageFrame = new Image<Bgr,byte>(bmap); } } } private System.Drawing.Bitmap BitmapImage2Bitmap(BitmapSource bitmapImage) { using (MemoryStream outStream = new MemoryStream()) { BitmapEncoder enc = new BmpBitmapEncoder(); enc.Frames.Add(BitmapFrame.Create(bitmapImage)); enc.Save(outStream); System.Drawing.Bitmap bitmap = new System.Drawing.Bitmap(outStream); return new System.Drawing.Bitmap(bitmap); } } 

Answer 1

Hi guys I found the problem and solve it. First I forgot to copy the x86 and x64 folders from Emgu\\bin to Debug folder of the Visual Studio directory. Moreover, converting Media.BitmapSource to Emgu.CV.Image isn't the best idea so after reading a book (James Ashley - Beginning Kinect Programming with Microsoft SDK) I could convert Drawing.Bitmap to Emgu.CV.Image .

  private void InitializeKinect() { KinectSensor Sensor = KinectSensor.GetDefault(); FrameDescription frameDescription = Sensor.ColorFrameSource.FrameDescription; ColorFrameReader FrameReader = Sensor.ColorFrameSource.OpenReader(); FrameReader.FrameArrived += FrameReader_FrameArrived; } void FrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e) { using (ColorFrame frame = e.FrameReference.AcquireFrame()) { if (frame == null) return; var width = frame.FrameDescription.Width; var heigth = frame.FrameDescription.Height; var data = new byte[width * heigth * System.Windows.Media.PixelFormats.Bgra32.BitsPerPixel / 8]; frame.CopyConvertedFrameDataToArray(data, ColorImageFormat.Bgra); var bitmap = new System.Drawing.Bitmap(width, height, PixelFormat.Format32bppRgb); var bitmapData = bitmap.LockBits( new System.Drawing.Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.WriteOnly, bitmap.PixelFormat); Marshal.Copy(data, 0, bitmapData.Scan0, data.Length); bitmap.UnlockBits(bitmapData); Emgu.CV.Image<Bgr, Byte> imageFrame = new Image<Bgr, Byte>(bitmap); } }