feat: enable to switch interpolation function and update comments

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

perception_eval/perception_eval/common/dataset.py

@@ -301,6 +301,7 @@ def get_interpolated_now_frame(
     threshold_min_time: int,
 ) -> Optional[FrameGroundTruth]:
     """Get interpolated ground truth frame in specified unix time.
+    It searches before and after frames which satisfy the time difference condition and if found both, interpolate them.
 
     Args:
         ground_truth_frames (List[FrameGroundTruth]): FrameGroundTruth instance list.
@@ -316,7 +317,7 @@ def get_interpolated_now_frame(
 
     Examples:
         >>> ground_truth_frames = load_all_datasets(...)
-        >>> get_now_frame(ground_truth_frames, 1624157578750212, 7500)
+        >>> get_interpolated_now_frame(ground_truth_frames, 1624157578750212, 7500)
         <perception_eval.common.dataset.FrameGroundTruth object at 0x7f66040c36a0>
     """
     # extract closest two frames

perception_eval/perception_eval/manager/_evaluation_manager_base.py

@@ -92,6 +92,7 @@ def get_ground_truth_now_frame(
         self,
         unix_time: int,
         threshold_min_time: int = 75000,
+        interpolate_ground_truth: bool = True,
     ) -> Optional[FrameGroundTruth]:
         """Returns a FrameGroundTruth instance that has the closest timestamp with `unix_time`.
 
@@ -105,12 +106,22 @@ def get_ground_truth_now_frame(
             Optional[FrameGroundTruth]: FrameGroundTruth instance at current frame.
                 If there is no corresponding ground truth, returns None.
         """
-        ground_truth_now_frame: FrameGroundTruth = get_interpolated_now_frame(
-            ground_truth_frames=self.ground_truth_frames,
-            unix_time=unix_time,
-            threshold_min_time=threshold_min_time,
-        )
-        return ground_truth_now_frame
+        if not interpolate_ground_truth:
+            # search closest frame
+            ground_truth_now_frame: FrameGroundTruth = get_now_frame(
+                ground_truth_frames=self.ground_truth_frames,
+                unix_time=unix_time,
+                threshold_min_time=threshold_min_time,
+            )
+            return ground_truth_now_frame
+        else:
+            # search closest frame and interpolate if both before and after frames exist
+            ground_truth_now_frame: FrameGroundTruth = get_interpolated_now_frame(
+                ground_truth_frames=self.ground_truth_frames,
+                unix_time=unix_time,
+                threshold_min_time=threshold_min_time,
+            )
+            return ground_truth_now_frame
 
     def visualize_all(self) -> None:
         """Visualize object result in BEV space for all frames."""