Fix non-snake case conversion to pascal case

symforce/caspar/code_generation/kernel.py

@@ -8,7 +8,7 @@
 import re
 from pathlib import Path
 
-from symforce.python_util import snakecase_to_camelcase
+from symforce.python_util import parts_to_pascal
 
 from ..code_formulation.dabseg_from_accessors import make_dabseg
 from ..code_formulation.dabseg_sorter import get_lines
@@ -53,13 +53,13 @@ def generate(self, out_dir: Path) -> None:
         self.registers = [f"r{i}" for i in range(n_registers)]
 
         code = env.get_template("kernel.cu.jinja").render(
-            kernel=self, snake_to_camel=snakecase_to_camelcase
+            kernel=self, snake_to_camel=parts_to_pascal
         )
         code = EMPTY_BLOCK_PATTERN.sub("", code)
         write_if_different(code, out_dir.joinpath(f"kernel_{self.name}.cu"))
 
         header = env.get_template("kernel.h.jinja").render(
-            kernel=self, snake_to_camel=snakecase_to_camelcase
+            kernel=self, snake_to_camel=parts_to_pascal
         )
         write_if_different(header, out_dir.joinpath(f"kernel_{self.name}.h"))
 

symforce/python_util.py

@@ -107,6 +107,16 @@ def snakecase_to_camelcase(s: str) -> str:
     )
 
 
+def parts_to_pascal(s: str) -> str:
+    """
+    Join underscore-separated parts into PascalCase, preserving internal capitalization.
+
+    Unlike snakecase_to_camelcase, this does not lowercase the interior of each part, so
+    already-PascalCase parts are preserved: "PinholePose_update_p" -> "PinholePoseUpdateP".
+    """
+    return "".join(part[0].upper() + part[1:] for part in s.split("_") if part)
+
+
 def snakecase_to_lower_camelcase(s: str) -> str:
     """
     Convert snake_case -> lowerCamelCase