Environment

result

[INFO]: Publishing 5 initial center markers. [INFO]: - Initial Center #0: [-1.43, -1.68, 0.20] [INFO]: - Initial Center #1: [2.95, 2.55, 0.96] [INFO]: - Initial Center #2: [1.75, -1.10, 0.54] [INFO]: - Initial Center #3: [2.48, 0.88, 0.53] [INFO]: - Initial Center #4: [-1.17, 2.49, -0.06] [INFO]: K-Means converged after 3 iterations. [INFO]: Cluster point counts: [INFO]: - Cluster #0: 1687 points [INFO]: - Cluster #1: 696 points [INFO]: - Cluster #2: 696 points [INFO]: - Cluster #3: 799 points [INFO]: - Cluster #4: 160 points [INFO]: Published 5 cluster bounding boxes. [INFO]: --- Performance Analysis (K-Means++) --- [INFO]: RANSAC Ground Removal: 2 ms [INFO]: Centroid Initialization: 13 ms [INFO]: K-Means Iteration: 21 ms [INFO]: Total Callback Time: 40 ms [INFO]: ----------------------------------------