public ImuSample GetImuSample(int timeoutInMS = -1)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(Device));
}
ImuSample sample = new ImuSample();
NativeMethods.k4a_wait_result_t result = NativeMethods.k4a_device_get_imu_sample(handle, sample, timeoutInMS);
if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
throw new TimeoutException("Timed out waiting for imu sample");
}
AzureKinectException.ThrowIfNotSuccess(result);
return(sample);
}
}
public static extern k4a_wait_result_t k4a_device_get_imu_sample(
k4a_device_t device_handle,
ImuSample imu_sample,
Int32 timeout_in_ms);
