fixed nits

Author: SamratThapa120

t4_devkit/dataclass/pointcloud.py

@@ -21,7 +21,7 @@
     "SegmentationPointCloud",
     "PointCloudLike",
     "PointCloudMetainfo",
-    "PointcloudSourceInfo",
+    "PointCloudSourceInfo",
     "Stamp",
 ]
 
@@ -38,9 +38,17 @@ class Stamp:
     sec: int
     nanosec: int
 
+    @property
+    def in_seconds(self) -> float:
+        """Convert timestamp to seconds as a float.
 
+        Returns:
+            float: Timestamp in seconds.
+        """
+        return self.sec + self.nanosec * 1e-9
+    
 @define
-class PointcloudSourceInfo:
+class PointCloudSourceInfo:
     """A dataclass to represent pointcloud source information.
 
     Attributes:
@@ -62,11 +70,11 @@ class PointCloudMetainfo:
 
     Attributes:
         stamp (Stamp): Timestamp.
-        sources (list[PointcloudSourceInfo]): List of source information.
+        sources (list[PointCloudSourceInfo]): List of source information.
     """
 
     stamp: Stamp = field(converter=lambda x: Stamp(**x) if isinstance(x, dict) else x)
-    sources: list[PointcloudSourceInfo] = field(factory=list)
+    sources: list[PointCloudSourceInfo] = field(factory=list)
 
     @classmethod
     def from_file(cls, filepath: str) -> Self:
@@ -82,7 +90,7 @@ def from_file(cls, filepath: str) -> Self:
         stamp = Stamp(**data["stamp"])
         sources = []
         for source_data in data.get("sources", []):
-            sources.append(PointcloudSourceInfo(**source_data))
+            sources.append(PointCloudSourceInfo(**source_data))
         return cls(stamp=stamp, sources=sources)
 
     @property
@@ -94,7 +102,6 @@ def source_tokens(self) -> list[str]:
         """
         return [source.sensor_token for source in self.sources]
 
-
 @define
 class PointCloud:
     """Abstract base dataclass for pointcloud data."""

t4_devkit/sanity/reference/ref301.py

@@ -29,6 +29,17 @@ class REF301(ExternalReferenceChecker):
     reference = "token"
 
     def check(self, context: SanityContext) -> list[Reason] | None:
+        """Check that all sensor tokens in PointCloudMetainfo files exist in Sensor schema.
+        
+        Validates that all source tokens found in pointcloud info files reference valid
+        sensor tokens from the sensor schema.
+        
+        Args:
+            context: The sanity check context containing schema files and data root.
+            
+        Returns:
+            List of Reason objects for invalid sensor token references, or None if all valid.
+        """
         sensor_token_filepath = context.to_schema_file(self.target).unwrap()
         sensor_tokens = {
             item[self.reference] for item in load_json_safe(sensor_token_filepath).unwrap()
@@ -41,7 +52,7 @@ def check(self, context: SanityContext) -> list[Reason] | None:
         # Get all valid pointcloud info records with their filenames
         valid_records = (
             (
-                record.get("info_filename", ""),
+                record.get("info_filename"),
                 PointCloudMetainfo.from_file(
                     data_root.joinpath(record.get("info_filename"))
                 ).source_tokens,