Program.cs

using System;
using System.Linq.Expressions;
using Microsoft.Azure.Kinect.Sensor;
using Microsoft.Azure.Kinect.Sensor.Record;

namespace Recording
{
    class Program
    {
        static void Main(string[] args)
        {
            int frame = 0;

            if (args.Length < 1)
            {
                Console.WriteLine("Please specify the name of an .mkv output file.");
                return;
            }

            string path = args[0];

            try
            {
                Console.WriteLine($"Recording from device to \"{path}\".");

                DeviceConfiguration configuration = new DeviceConfiguration()
                {
                    CameraFPS = FPS.FPS30,
                    ColorFormat = ImageFormat.ColorMJPG,
                    ColorResolution = ColorResolution.R720p,
                    DepthMode = DepthMode.NFOV_2x2Binned,
                    SynchronizedImagesOnly = true
                };
                using (Device device = Device.Open())
                using (Recorder recorder = Recorder.Create(path, device, configuration))
                {

                    device.StartCameras(configuration);
                    device.StartImu();

                    recorder.AddImuTrack();
                    recorder.WriteHeader();

                    for (frame = 0; frame < 100; frame++)
                    {
                        using (Capture capture = device.GetCapture())
                        {
                            recorder.WriteCapture(capture);
                            Console.WriteLine($"Wrote capture ({capture.Color.DeviceTimestamp})");
                            try
                            {
                                while (true)
                                {
                                    // Throws TimeoutException when Imu sample is not available
                                    ImuSample sample = device.GetImuSample(TimeSpan.Zero);

                                    recorder.WriteImuSample(sample);
                                    Console.WriteLine($"Wrote imu ({sample.AccelerometerTimestamp})");
                                }
                            }
                            catch (TimeoutException)
                            {

                            }
                        }
                    }
                }

                Console.WriteLine($"Wrote {frame} frames to output.mkv");

                using (Playback playback = Playback.Open(@"output.mkv"))
                {
                    Console.WriteLine($"Tracks = {playback.TrackCount}");
                    Console.WriteLine($"RecordingLength = {playback.RecordingLength}");

                    for (int i = 0; i < playback.TrackCount; i++)
                    {
                        string name = playback.GetTrackName(i);
                        string codecId = playback.GetTrackCodecId(name);

                        Console.WriteLine($"  Track {i}: {name} ({codecId}) (builtin={playback.GetTrackIsBuiltin(name)})");
                    }
                    Capture capture;
                    while (null != (capture = playback.GetNextCapture()))
                    {
                        Console.WriteLine($"Color timestamp: {capture.Color.DeviceTimestamp}  Depth timestamp: {capture.Depth.DeviceTimestamp}");
                    }
                }

            } catch (AzureKinectException exception)
            {
                Console.WriteLine(exception.ToString());
                Console.WriteLine();
                Console.WriteLine("Azure Kinect log messages:");
                foreach (LogMessage m in exception.LogMessages)
                {
                    Console.WriteLine(m.ToString());
                }
            }
        }
    }
}