Added documentation

include/k4arecord/playback.h

@@ -818,7 +818,7 @@ K4ARECORD_EXPORT void k4a_playback_data_block_release(k4a_playback_data_block_t
  *
  * \remarks
  * The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the first imu
- * sample with a timestamp greter than or equal to the seek time.
+ * sample with a timestamp greater than or equal to the seek time.
  *
  * \remarks
  * The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the first

src/csharp/Examples/Recording/Program.cs

@@ -62,7 +62,6 @@ static void Main(string[] args)
             {
                 Console.WriteLine($"Tracks = {playback.TrackCount}");
                 Console.WriteLine($"RecordingLength = {playback.RecordingLength}");
-                Console.WriteLine($"LastTimestamp = {playback.LastTimestamp}");
 
                 for (int i = 0; i < playback.TrackCount; i++)
                 {

src/csharp/Record/Exceptions/AzureKinectGetImuSampleException.cs

@@ -0,0 +1,97 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.Serialization;
+using System.Text;
+
+namespace Microsoft.Azure.Kinect.Sensor.Record.Exceptions
+{
+
+    /// <summary>
+    /// Represents errors that occur when reading an IMU sample.
+    /// </summary>
+    [Serializable]
+    public class AzureKinectGetImuSampleException : AzureKinectRecordException
+    {
+        /// <summary>
+        /// Initializes a new instance of the <see cref="AzureKinectGetImuSampleException"/> class.
+        /// </summary>
+        public AzureKinectGetImuSampleException()
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="AzureKinectGetImuSampleException"/> class
+        /// with a specified error message.
+        /// </summary>
+        /// <param name="message">The message that describes the error.</param>
+        public AzureKinectGetImuSampleException(string message)
+            : base(message)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="AzureKinectGetImuSampleException"/> class
+        /// with a specified error message and a reference to the inner exception that is the
+        /// cause of this exception.
+        /// </summary>
+        /// <param name="message">
+        /// The error message that explains the reason for the exception.
+        /// </param>
+        /// <param name="innerException">
+        /// The exception that is the cause of the current exception, or a null reference
+        /// (Nothing in Visual Basic) if no inner exception is specified.
+        /// </param>
+        public AzureKinectGetImuSampleException(string message, Exception innerException)
+            : base(message, innerException)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="AzureKinectGetImuSampleException"/> class
+        /// with serialized data.
+        /// </summary>
+        /// <param name="info">
+        /// The <see cref="SerializationInfo"/> that holds the serialized object data about the
+        /// exception being thrown.</param>
+        /// <param name="context">
+        /// The <see cref="StreamingContext"/>System.Runtime.Serialization.StreamingContext that
+        /// contains contextual information about the source or destination.
+        /// </param>
+        protected AzureKinectGetImuSampleException(SerializationInfo info, StreamingContext context)
+            : base(info, context)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="AzureKinectGetImuSampleException"/> class
+        /// with a specified error message.
+        /// </summary>
+        /// <param name="message">The message that describes the error.</param>
+        /// <param name="logMessages">
+        /// The log messages that happened during the function call that generated this error.
+        /// </param>
+        protected AzureKinectGetImuSampleException(string message, ICollection<LogMessage> logMessages)
+            : base(message, logMessages)
+        {
+        }
+
+        /// <summary>
+        /// Throws an <see cref="AzureKinectGetImuSampleException"/> if the result of the function
+        /// is not a success.
+        /// </summary>
+        /// <param name="function">The native function to call.</param>
+        /// <typeparam name="T">The type of result to expect from the function call.</typeparam>
+        internal static void ThrowIfNotSuccess<T>(Func<T> function)
+            where T : System.Enum
+        {
+            using (LoggingTracer tracer = new LoggingTracer())
+            {
+                T result = function();
+                if (!AzureKinectRecordException.IsSuccess(result))
+                {
+                    throw new AzureKinectGetImuSampleException($"result = {result}", tracer.LogMessages);
+                }
+            }
+        }
+    }
+}