将 Kinect ColorImageFrame 转换为位图

我将 Kinect (Microsoft SDK) 与 XNA 结合使用。我想使用 GRATF 进行标记识别

如何转换 Kinect 的数据ColorImageFrame to a System.Drawing.Bitmap or AForge.Imaging.UnmanagedImage我可以用 GRATF 处理它们吗？

void kinectSensor_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
    Bitmap bitmap = null;
    ColorImageFrame frame = e.OpenColorImageFrame();
    byte[] buffer = new byte[frame.PixelDataLength];
    frame.CopyPixelData(buffer);

    // how to convert the data in buffer to a bitmap?

    var glyphs = recognizer.FindGlyphs(bitmap);

    ...
}

你可以找到答案在本文中 http://www.i-programmer.info/ebooks/practical-windows-kinect-in-c/3725-getting-started-with-windows-kinect-sdk-10.html?start=2.
总结一下，这个方法应该可以解决问题：

Bitmap ImageToBitmap(ColorImageFrame img)
{
     byte[] pixeldata = new byte[img.PixelDataLength];
     img.CopyPixelDataTo(pixeldata);
     Bitmap bmap = new Bitmap(img.Width, img.Height, PixelFormat.Format32bppRgb);
     BitmapData bmapdata = bmap.LockBits(
         new Rectangle(0, 0, img.Width, img.Height),
         ImageLockMode.WriteOnly, 
         bmap.PixelFormat);
     IntPtr ptr = bmapdata.Scan0;
     Marshal.Copy(pixeldata, 0, ptr, img.PixelDataLength);
     bmap.UnlockBits(bmapdata);
     return bmap;
 }