Kinect Depth Frame to OpenCV Image

KinectDepth2OpenCVImage

                        Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp.ToBitmap());
                        Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();

                        using (MemStorage stor = new MemStorage())
                        {

                            Contour<System.Drawing.Point> contours = gray_image.FindContours(
                             Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
                             Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
                             stor);

                            for (int i = 0; contours != null; contours = contours.HNext)
                            {
                                i++;

                                if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
                                {
                                    MCvBox2D box = contours.GetMinAreaRect();
                                    blobCount++;
                                    openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
                                    blobCount++;
                                }
                            }
                        }

                        this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);