This week I mainly focused on working with Kelton on condensing the 720P depth map into 2 threat level numbers. We eventually settled on using hard-coded thresholds to classify threats.
Below is a showcase of our work. From a single frame, we use hard thresholds to generate masks that signal a threat of at least level 1 (bottom center), 2 (bottom left), or 3 (top right). In these masks, the yellow part is where the threat lies. When we add all three masks together and pass it through a validity mask (top center, yellow parts are valid), we get the frame simplified to 4 threat levels (bottom right; the brighter the color, the higher the threat level.)
We do notice that the ground is considered a threat level of 1/2; we have theorized a way that utilizes the baseline matrix that we managed to generate in previous weeks to filter it out. Hopefully, we can show our result in our presentation next Monday.