//new BLOBable class, that implements the BLOBable-interface.
public final class BLOBable_Kinect_3D implements BLOBable{
  private int width_, height_;
  private String name_; 
  private PApplet papplet_;
  
  private Kinect3D k3d_;
  private KinectPoint3D k3d_points_[];
  
  private float min_depth_cm_ = 80;
  private float max_depth_cm_ = 130;
         
  
  public BLOBable_Kinect_3D(PApplet papplet){
    papplet_ = papplet;
  }
  
  // customized settings
  public final BLOBable_Kinect_3D setKinect3d(Kinect3D k3d){
    k3d_ = k3d;
    return this;
  }
  public final BLOBable_Kinect_3D setMinMaxDepth(float min_depth, float max_depth){
    min_depth_cm_ = min_depth;
    max_depth_cm_ = max_depth;
    return this;
  }
  public float getMinDepth(){
    return min_depth_cm_;
  }
  public float getMaxDepth(){
    return max_depth_cm_;
  }
  
  
  // must-have methods, which are getting called by the blob-detector
  //@Override
  public final void init() {
    name_ = this.getClass().getSimpleName(); 
  }
  
  //@Override
  public final void updateOnFrame(int width, int height) {
    width_ = width;
    height_ = height;
    k3d_points_ =  k3d_.get3D();
//    println("MY NAME IS: " +this.getClass().getSimpleName());
  }
  

  //@Override
  public final boolean isBLOBable(int pixel_index, int x, int y) {
    float z_value = k3d_points_[pixel_index].z * -100;
    // depth-values within a distance of min_depth_cm_ to max_depth_cm_ are valid pixel
    if( z_value > min_depth_cm_ && z_value < max_depth_cm_){
      return true;
    } else {
      return false;
    }
  }
  
  

}