Algorithm (Workflow)

This function, SR300stop, is designed to stop the pipeline of the Intel RealSense 300 Scanner, which is managed through a global struct named IntelRealSense300.

Input Parameters

The function does not take any input parameters. It operates on a global variable.

Global Variable

• IntelRealSense300: A global struct that represents the Intel RealSense 300 Scanner. It is assumed to have been initialized and started prior to calling this function.

Algorithm Steps

1. Check if the global variable IntelRealSense300 is not empty. This ensures that the scanner has been initialized and is currently active.
2. If IntelRealSense300 is not empty, attempt to stop the pipeline using IntelRealSense300.pipeline.stop().
3. If an error occurs during the stopping process, catch the exception and store the error message in err.
4. Display a warning message indicating that the pipeline could not be closed, and print the reason for the failure using the error message.
5. Clear the global variable IntelRealSense300 to remove any references to the scanner, effectively resetting the global state.

Exception Handling

The function includes a try-catch block to handle any exceptions that may occur when attempting to stop the pipeline. If an exception is caught, a warning is issued, and the error message is printed to the console.

Usage Example

The function is typically used in a sequence of operations involving the Intel RealSense 300 Scanner:

SR300start;
SR300depthimage;
SR300stop;
SR300stop;

This sequence starts the scanner, captures a depth image, and then stops the scanner. The function can be called multiple times to ensure the pipeline is stopped.