italizes you, while, on a physical level, cleaning out your home helps shift stuck energy.
Bringing focus and power to your mental realm, the Sun visits your 3rd House of Thinking and Learning. Your mind is even stronger than usual and ready to travel into the depths to root out the source of ongoing anxieties and worries. Changing how you think can go a long way toward changing your life. You're longing to connect with others in profound ways -- don't hold back -- speaking your truth is the route to growth and transformation right now.
As the Sun visits your 2nd House of Money and Possessions, channel this ardent energy into putting your finances in order. Hidden financial issues may come out of the shadows, alerting you to what needs to be cleaned up. At a deeper level -- and Scorpio loves the depths -- the 2nd House is about self-worth. Look beneath the surface of any material-world concerns and consider how you are valuing yourself, your time and your energy.
Happy Birthday, Scorpio!  Tap into the power of regeneration by releasing past hurts and disappointments -- it's time for a fresh start. Buying new clothes, changing your hair style or otherwise renovating your look will help invigorate you for this new cycle. Your outlook is also ready for a revolution -- seek a higher perspective by consulting your favorite form of divination.
The Scorpio Sun sneaks into your 12th House of Spirit and Secrets, signaling a time for retreat, reflection and restoration. You have the opportunity to get to the root of any self-sabotaging behaviors and to release these old habits. Slow down and take time out to attend to the deep transformation that wants to happen. Your dreams have important information for you about your next step. Next month these changes will be ready to manifest in the outer world.
In your 11th House of Hopes and Wishes, the Sun fires up your enthusiasm about your future. Get out and network and you'll connect with people who can help you clarify your desires and support you in moving toward your goals. Although you usually prefer to go it alone, you can benefit now by teaming up with friends and like-minded acquaintances. Your combined energy has the power to transform groups, organizations and communities.
Your professional life is ready for a renovation, as the Scorpio Sun calls on your 10th House of Career. Is your work in the world aligned with your deepest passions? Are there any obligations or responsibilities you need to let go of in order to focus on what you really want? You have the opportunity now to get deep insight into your true calling. Take action toward manifesting your mission -- just one small step in the right direction can make a world of difference.
The Sun in your 9th House of Philosophy and Religion inspires fervent curiosity about life's big questions. Your faith is put to the test as you look behind the rhetoric to get to the root of what you really believe. Exploring different ways of seeing the world -- by visiting unfamiliar destinations or investigating various spiritual traditions -- helps you clarify your own convictions. Trust your heightened intuition to guide you toward your inner truth.
#include "camera_grabber.h"
#include <stdio.h>
#include <iostream>

using namespace std;

void myCamera_grabber::mg_init(){

	std::cout << "{\"STATUS\": \"my_camera_grabber is starting to initialise \"}" << std::endl;

	cfg.enable_stream(RS2_STREAM_DEPTH, DEPTH_INPUT_WIDTH, DEPTH_INPUT_HEIGHT, RS2_FORMAT_Z16, FRAMERATE);
	cfg.enable_stream(RS2_STREAM_COLOR, COLOR_INPUT_WIDTH, COLOR_INPUT_HEIGHT, RS2_FORMAT_BGR8, FRAMERATE);

	rs2::pipeline_profile profile = pipe.start(cfg);

	// Each depth camera might have different units for depth pixels, so we get it here
	// Using the pipeline's profile, we can retrieve the device that the pipeline uses
	depth_scale = get_depth_scale(profile.get_device());

	//std::cout << ("depth scale = %d",depth_scale) << std::endl;

	//Pipeline could choose a device that does not have a color stream
	//If there is no color stream, choose to align depth to another stream
	align_to = find_stream_to_align(profile.get_streams());

	// Create a rs2::align object.
	// rs2::align allows us to perform alignment of depth frames to others frames
	//The "align_to" is the stream type to which we plan to align depth frames.
	align = new rs2::align(align_to);

	// Define a variable for controlling the distance to clip
	float depth_clipping_distance = 1.f;

}

myCamera_grabber::~myCamera_grabber(){

delete align;

}

rs2::frameset myCamera_grabber::get_cam_images(){

    // Using the align object, we block the application until a frameset is available
	rs2::frameset frameset = pipe.wait_for_frames();

	//Get processed aligned frame
	auto processed = align->process(frameset);
    return processed;

}

rs2_stream myCamera_grabber::find_stream_to_align(const std::vector<rs2::stream_profile>& streams)
{
    //Given a vector of streams, we try to find a depth stream and another stream to align depth with.
    //We prioritize color streams to make the view look better.
    //If color is not available, we take another stream that (other than depth)
    rs2_stream align_to = RS2_STREAM_ANY;
    bool depth_stream_found = false;
    bool color_stream_found = false;
    for (rs2::stream_profile sp : streams)
    {
        rs2_stream profile_stream = sp.stream_type();
        if (profile_stream!= RS2_STREAM_DEPTH)
        {
            if (!color_stream_found)         //Prefer color
                align_to = profile_stream;

            if (profile_stream == RS2_STREAM_COLOR)
            {
                color_stream_found = true;
            }
        }
        else
        {
            depth_stream_found = true;
        }
    }

    if(!depth_stream_found)
        throw std::runtime_error("No Depth stream available");

    if (align_to == RS2_STREAM_ANY)
        throw std::runtime_error("No stream found to align with Depth");

    return align_to;
}

float myCamera_grabber::get_depth_scale(rs2::device dev)
{
    // Go over the device's sensors
    for (rs2::sensor& sensor : dev.query_sensors())
    {
        // Check if the sensor if a depth sensor
        if (rs2::depth_sensor dpt = sensor.as<rs2::depth_sensor>())
        {
            return dpt.get_depth_scale();
        }
    }
    throw std::runtime_error("Device does not have a depth sensor");
}
The ROM stone-vessel drill has been reconstructed from depictions on ancient Egyptian tomb walls and from the determinative sign used in the writing of the Egyptian word for craftsman (Gardiner sign list U25). This type of drill was used from the Protodynastic to Old Kingdom Periods, but no actual examples of such a drill have survived. The ROM reconstruction consists of a central wooden shaft made from a tree branch whose bottom has been hollowed into a fork. A separate bent piece of wood has been spliced into the central shaft forming a top part to be used as a handle. White rope has been used to form nets by which two rounded pieces of limestone are attached to the wooden shaft. The rope wraps around the wooden shaft at least ten times. An ancient crescent-shaped flint borer has been inserted into the forked end of the shaft.
A number of Old Kingdom reliefs depict the use of a stone vase-maker’s drill. The outer form of the vessel is always depicted in a basically finished state, even though modern stone vessel makers in Egypt typically work on the interior of the vessel before finishing the exterior; it is in the hollowing out of the interior that vessels are most likely to be damaged or disfigured. The representation of stone vase manufacturing from the Dynasty 5 tomb of Ti at Saqqara is probably the closest rendering to the ROM reconstruction because of the curved handle attached to the shaft above the weights; an image from this scene is reproduced on the gallery label. From the scale of the standing figures, the central shaft of the drill must be at least a meter in length, perhaps a bit larger than the ROM reconstruction. By the 6th Dynasty stone vessel craftsmen are depicted squatting on the ground, suggesting the introduction of a revised, smaller type of drill.
Ancient Egyptian depictions of stone vessel manufacture do not show the use of an abrasive powder, such as quartz sand and water, which has been demonstrated by experimental