Ford: cluster radar points #1420
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5m DBSCAN clustering seems to be more stable. This is with clustering and matching the closest clusters from the previous 8Hz measurement cycle to the current one. You can see how big of a difference lead accel makes! (text is dRel, yRel, vRel, clusterId)
ford-clustering-fixed.mp4
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This reverts commit b280019.
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Here is https://connect.comma.ai/b9d015f8ff659e1e/000004b6--2657291be4/440/465 clustered:
ford-radar-dbscan-clustering.mp4
We still need to somehow correlate which clusters are which between updates.