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Tentatively, there is the openCV method for finding k-means for an arbitrary set of points, but you would need to know how many clusters you want to find, and there could be convergence issues depending on how the data is spread and how the algorithm (iterative) starts. So it might be of no help to you ;)

I found this image condenses completely the tons of k-means mathematical theory :) (from http://www.cs.cmu.edu/~dpelleg/kmeans.html) :