src_python/habitat_sim/utils/data/pose_extractor.py [123:153]:
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    def __init__(
        self,
        topdown_views: List[Tuple[TopdownView, str, Tuple[float32, float32, float32]]],
        meters_per_pixel: float = 0.1,
    ) -> None:
        super().__init__(topdown_views, meters_per_pixel)

    def extract_poses(
        self, view: ndarray, fp: str
    ) -> List[Tuple[Tuple[int, int], Tuple[int, int], str]]:
        # Determine the physical spacing between each camera position
        height, width = view.shape
        dist = min(height, width) // 10  # We can modify this to be user-defined later

        # Create a grid of camera positions
        n_gridpoints_width, n_gridpoints_height = (
            width // dist - 1,
            height // dist - 1,
        )

        # Exclude camera positions at invalid positions
        gridpoints = []
        for h in range(n_gridpoints_height):
            for w in range(n_gridpoints_width):
                point = (dist + h * dist, dist + w * dist)
                if self._valid_point(*point, view):
                    gridpoints.append(point)

        # Find the closest point of the target class to each gridpoint
        poses = []
        for point in gridpoints:
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src_python/habitat_sim/utils/data/pose_extractor.py [217:247]:
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    def __init__(
        self,
        topdown_views: List[Tuple[TopdownView, str, Tuple[float32, float32, float32]]],
        meters_per_pixel: float = 0.1,
    ) -> None:
        super().__init__(topdown_views, meters_per_pixel)

    def extract_poses(
        self, view: ndarray, fp: str
    ) -> List[Tuple[Tuple[int, int], Tuple[int, int], str]]:
        # Determine the physical spacing between each camera position
        height, width = view.shape
        dist = min(height, width) // 10  # We can modify this to be user-defined later

        # Create a grid of camera positions
        n_gridpoints_width, n_gridpoints_height = (
            width // dist - 1,
            height // dist - 1,
        )

        # Exclude camera positions at invalid positions
        gridpoints = []
        for h in range(n_gridpoints_height):
            for w in range(n_gridpoints_width):
                point = (dist + h * dist, dist + w * dist)
                if self._valid_point(*point, view):
                    gridpoints.append(point)

        # Find the closest point of the target class to each gridpoint
        poses = []
        for point in gridpoints:
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