In the radar documentation, it says that ‘The reflected signals are
processed and after multiple steps they are available in form of clusters and objects.’ Does one cluster here actually means one radar scatter point? I have this doubt because from the radar fields provided in https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/data_classes.py#L294, the basic elements of radar data structure are positions of points and their RCS/velocities in array. My understanding is a cluster means a group of radar scatter points which belong to one object, it’s done by clustering algorithm like K-means, etc. I am confused with this. Could you clarify this for me please?