fix: fix typo and unintended spelling

Signed-off-by: yoshiri <[email protected]>

perception_eval/perception_eval/common/dataset.py

@@ -29,7 +29,7 @@
 from perception_eval.common.dataset_utils import _sample_to_frame
 from perception_eval.common.dataset_utils import _sample_to_frame_2d
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.geometry import interpolate_hopmogeneous_matrix
+from perception_eval.common.geometry import interpolate_homogeneous_matrix
 from perception_eval.common.geometry import interpolate_object_list
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.object import DynamicObject
@@ -362,15 +362,15 @@ def interpolate_ground_truth_frames(
     after_frame: FrameGroundTruth,
     unix_time: int,
 ):
-    """Interpolate ground truth frame with lienear interpolation.
+    """Interpolate ground truth frame with linear interpolation.
 
     Args:
         before_frame (FrameGroundTruth): input frame1
         after_frame (FrameGroundTruth): input frame2
         unix_time (int): target time
     """
     # interpolate ego2map
-    ego2map = interpolate_hopmogeneous_matrix(
+    ego2map = interpolate_homogeneous_matrix(
         before_frame.ego2map, after_frame.ego2map, before_frame.unix_time, after_frame.unix_time, unix_time
     )
 

perception_eval/perception_eval/common/geometry.py

@@ -30,7 +30,7 @@
 ObjectType = Union[DynamicObject, DynamicObject2D]
 
 
-def interpolate_hopmogeneous_matrix(
+def interpolate_homogeneous_matrix(
     matrix_1: np.ndarray, matrix_2: np.ndarray, t1: float, t2: float, t: float
 ) -> np.ndarray:
     """[summary]
@@ -94,12 +94,15 @@ def interpolate_state(state_1: ObjectState, state_2: ObjectState, t1: float, t2:
     """
     assert t1 <= t <= t2
     # state has position, Orientation, shape, velocity
-    interp_position = tuple(interpolate_list(state_1.position, state_2.position, t1, t2, t))
-    interp_orientation = interpolate_quaternion(state_1.orientation, state_2.orientation, t1, t2, t)
-    interp_shape = state_1.shape  # shape will not change
-    interp_velocity = tuple(interpolate_list(state_1.velocity, state_2.velocity, t1, t2, t))
+    interpolated_position = tuple(interpolate_list(state_1.position, state_2.position, t1, t2, t))
+    interpolated_orientation = interpolate_quaternion(state_1.orientation, state_2.orientation, t1, t2, t)
+    interpolated_shape = state_1.shape  # shape will not change
+    interpolated_velocity = tuple(interpolate_list(state_1.velocity, state_2.velocity, t1, t2, t))
     return ObjectState(
-        position=interp_position, orientation=interp_orientation, shape=interp_shape, velocity=interp_velocity
+        position=interpolated_position,
+        orientation=interpolated_orientation,
+        shape=interpolated_shape,
+        velocity=interpolated_velocity,
     )
 
 
@@ -155,14 +158,14 @@ def interpolate_object(object_1: ObjectType, object_2: ObjectType, t1: float, t2
         raise TypeError(f"objects' type must be same, but got {type(object_1) and {type(object_2)}}")
 
     if isinstance(object_1, DynamicObject):
-        return interpolate_dynamicobject(object_1, object_2, t1, t2, t)
+        return interpolate_dynamic_object(object_1, object_2, t1, t2, t)
     elif isinstance(object_1, DynamicObject2D):
-        return interpolate_dynamicobject2d(object_1, object_2, t1, t2, t)
+        return interpolate_dynamic_object2d(object_1, object_2, t1, t2, t)
     else:
         raise TypeError(f"object type must be DynamicObject or DynamicObject2D, but got {type(object_1)}")
 
 
-def interpolate_dynamicobject(
+def interpolate_dynamic_object(
     object_1: DynamicObject, object_2: DynamicObject, t1: float, t2: float, t: float
 ) -> DynamicObject:
     """[summary]
@@ -177,13 +180,13 @@ def interpolate_dynamicobject(
     # 面倒なので基本的にcopyで済ます
     # TODO: 他の要素も補間する
     output_object = deepcopy(object_1)
-    interp_state = interpolate_state(object_1.state, object_2.state, t1, t2, t)
-    output_object.state = interp_state
+    interpolated_state = interpolate_state(object_1.state, object_2.state, t1, t2, t)
+    output_object.state = interpolated_state
     output_object.unix_time = int(t)
     return output_object
 
 
-def interpolate_dynamicobject2d(
+def interpolate_dynamic_object2d(
     object_1: DynamicObject2D, object_2: DynamicObject2D, t1: float, t2: float, t: float
 ) -> DynamicObject2D:
     """[summary]

perception_eval/test/common/test_geometry.py

@@ -1,18 +1,18 @@
 import numpy as np
-from perception_eval.common.geometry import interpolate_hopmogeneous_matrix
+from perception_eval.common.geometry import interpolate_homogeneous_matrix
 from perception_eval.common.geometry import interpolate_list
 from perception_eval.common.geometry import interpolate_quaternion
 from pyquaternion import Quaternion
 import pytest
 
 
-def test_interpolate_hopmogeneous_matrix():
+def test_interpolate_homogeneous_matrix():
     matrix_1 = np.eye(4)
     matrix_2 = np.eye(4)
     matrix_2[1, 3] = 1  # 小さな変更を加える
     t1, t2, t = 0, 1, 0.5
 
-    result = interpolate_hopmogeneous_matrix(matrix_1, matrix_2, t1, t2, t)
+    result = interpolate_homogeneous_matrix(matrix_1, matrix_2, t1, t2, t)
     expected = np.eye(4)
     expected[1, 3] = 0.5  # 期待される結果