diff --git a/cpp/bindings/main.cpp b/cpp/bindings/main.cpp
index 8397dd06..0cc6e6c2 100644
--- a/cpp/bindings/main.cpp
+++ b/cpp/bindings/main.cpp
@@ -21,13 +21,13 @@ NB_MODULE(_cpp, m) {
     "types",
     "Common types used for conversion between datasets and pipelines."
   );
-  evalio::makeTypes(m_types);
+  evalio::make_types(m_types);
 
   auto m_helpers =
     m.def_submodule("helpers", "Helper functions for internal evalio usage.");
-  evalio::makeConversions(m_helpers);
+  evalio::make_conversions(m_helpers);
 
   auto m_pipelines = m.def_submodule("pipelines", "Pipelines used in evalio.");
-  evalio::makeBasePipeline(m_pipelines);
-  evalio::makePipelines(m_pipelines);
+  evalio::make_base_pipeline(m_pipelines);
+  evalio::make_pipelines(m_pipelines);
 }
diff --git a/cpp/bindings/pipeline.h b/cpp/bindings/pipeline.h
index a2ea97b7..bded43a1 100644
--- a/cpp/bindings/pipeline.h
+++ b/cpp/bindings/pipeline.h
@@ -57,7 +57,7 @@ class PyPipeline: public evalio::Pipeline {
   }
 }; // namespace evalio
 
-inline void makeBasePipeline(nb::module_& m) {
+inline void make_base_pipeline(nb::module_& m) {
   nb::class_<evalio::Pipeline, PyPipeline>(m, "Pipeline")
     .def(nb::init<>(), "Construct a new pipeline.")
     .def_static("name", &evalio::Pipeline::name, "Name of the pipeline.")
diff --git a/cpp/bindings/pipelines/bindings.h b/cpp/bindings/pipelines/bindings.h
index eab6f5ae..508016a7 100644
--- a/cpp/bindings/pipelines/bindings.h
+++ b/cpp/bindings/pipelines/bindings.h
@@ -32,7 +32,7 @@ using namespace nb::literals;
 #endif
 
 namespace evalio {
-inline void makePipelines(nb::module_& m) {
+inline void make_pipelines(nb::module_& m) {
   // List all the pipelines here
 #ifdef EVALIO_KISS_ICP
   nb::class_<KissICP, evalio::Pipeline>(m, "KissICP")
diff --git a/cpp/bindings/pipelines/ct_icp.h b/cpp/bindings/pipelines/ct_icp.h
index 5c77a46e..911ed455 100644
--- a/cpp/bindings/pipelines/ct_icp.h
+++ b/cpp/bindings/pipelines/ct_icp.h
@@ -39,7 +39,7 @@ inline ct_icp::Point3D convert(const evalio::Point& from) {
 
 template<>
 inline evalio::SE3 convert(const ct_icp::TrajectoryFrame& in) {
-  return ev::SE3(ev::SO3::fromMat(in.begin_R), in.begin_t);
+  return ev::SE3(ev::SO3::from_mat(in.begin_R), in.begin_t);
 }
 } // namespace evalio
 
diff --git a/cpp/bindings/pipelines/lio_sam.h b/cpp/bindings/pipelines/lio_sam.h
index b5b91caa..ab5dd111 100644
--- a/cpp/bindings/pipelines/lio_sam.h
+++ b/cpp/bindings/pipelines/lio_sam.h
@@ -140,7 +140,7 @@ class LioSam: public ev::Pipeline {
   void set_imu_T_lidar(ev::SE3 T) override {
     lidar_T_imu_ = T.inverse();
     config_.lidar_P_imu = lidar_T_imu_.trans;
-    config_.lidar_R_imu = lidar_T_imu_.rot.toEigen();
+    config_.lidar_R_imu = lidar_T_imu_.rot.to_eigen();
   }
 
   // Doers
diff --git a/cpp/bindings/pipelines/loam.h b/cpp/bindings/pipelines/loam.h
index 045ed016..ddcc4aa1 100644
--- a/cpp/bindings/pipelines/loam.h
+++ b/cpp/bindings/pipelines/loam.h
@@ -13,7 +13,7 @@ namespace ev = evalio;
 namespace evalio {
 template<>
 inline ev::SE3 convert(const loam::Pose3d& from) {
-  return ev::SE3(ev::SO3::fromEigen(from.rotation), from.translation);
+  return ev::SE3(ev::SO3::from_eigen(from.rotation), from.translation);
 }
 } // namespace evalio
 
diff --git a/cpp/bindings/ros_pc2.h b/cpp/bindings/ros_pc2.h
index bcd0a8f7..0dc62061 100644
--- a/cpp/bindings/ros_pc2.h
+++ b/cpp/bindings/ros_pc2.h
@@ -468,7 +468,7 @@ inline bool closest(const Stamp& idx, const Stamp& a, const Stamp& b) {
 }
 
 // ---------------------- Create python bindings ---------------------- //
-inline void makeConversions(nb::module_& m) {
+inline void make_conversions(nb::module_& m) {
   nb::enum_<DataType>(m, "DataType")
     .value("UINT8", DataType::UINT8)
     .value("INT8", DataType::INT8)
diff --git a/cpp/bindings/types.h b/cpp/bindings/types.h
index a3855f05..0985c00e 100644
--- a/cpp/bindings/types.h
+++ b/cpp/bindings/types.h
@@ -20,7 +20,7 @@ namespace evalio {
 
 // TODO: Check if copy/deepcopy works or not
 
-inline void makeTypes(nb::module_& m) {
+inline void make_types(nb::module_& m) {
   nb::enum_<VisOption>(m, "VisOption", nb::is_flag())
     .value("MAP", VisOption::MAP, "Visualize the map.")
     .value("FEATURES", VisOption::FEATURES, "Visualize the features.")
@@ -58,7 +58,7 @@ inline void makeTypes(nb::module_& m) {
     )
     .def(nb::self - nb::self, "Compute the difference between two Durations")
     .def(nb::self + nb::self, "Add two Durations")
-    .def("__repr__", &Duration::toString)
+    .def("__repr__", &Duration::to_string)
     .def("__copy__", [](const Duration& self) { return Duration(self); })
     .def(
       "__deepcopy__",
@@ -124,7 +124,7 @@ inline void makeTypes(nb::module_& m) {
     )
     .def(nb::self + Duration(), "Add a Duration to a Stamp")
     .def(nb::self - Duration(), "Subtract a Duration from a Stamp")
-    .def("__repr__", &Stamp::toString)
+    .def("__repr__", &Stamp::to_string)
     .def("__copy__", [](const Stamp& self) { return Stamp(self); })
     .def(
       "__deepcopy__",
@@ -200,7 +200,7 @@ inline void makeTypes(nb::module_& m) {
       "Check for inequality",
       nb::sig("def __ne__(self, arg: object, /) -> bool")
     )
-    .def("__repr__", &Point::toString)
+    .def("__repr__", &Point::to_string)
     .def(
       "__getstate__",
       [](const Point& p) {
@@ -280,7 +280,7 @@ inline void makeTypes(nb::module_& m) {
       "Check for inequality",
       nb::sig("def __ne__(self, arg: object, /) -> bool")
     )
-    .def("__repr__", &LidarMeasurement::toString)
+    .def("__repr__", &LidarMeasurement::to_string)
     .def(
       "__getstate__",
       [](const LidarMeasurement& p) {
@@ -342,7 +342,7 @@ inline void makeTypes(nb::module_& m) {
       "Get the time between two consecutive scans as a Duration. Inverse "
       "of the rate."
     )
-    .def("__repr__", &LidarParams::toString)
+    .def("__repr__", &LidarParams::to_string)
     .doc() =
     "LidarParams is a structure for storing the parameters of a "
     "lidar sensor.";
@@ -380,7 +380,7 @@ inline void makeTypes(nb::module_& m) {
       "Check for inequality",
       nb::sig("def __ne__(self, arg: object, /) -> bool")
     )
-    .def("__repr__", &ImuMeasurement::toString)
+    .def("__repr__", &ImuMeasurement::to_string)
     .def(
       "__getstate__",
       [](const ImuMeasurement& p) {
@@ -473,7 +473,7 @@ inline void makeTypes(nb::module_& m) {
     .def_ro("rate", &ImuParams::rate, "Rate of the IMU sensor, in Hz.")
     .def_ro("brand", &ImuParams::brand, "Brand of the IMU sensor.")
     .def_ro("model", &ImuParams::model, "Model of the IMU sensor.")
-    .def("__repr__", &ImuParams::toString)
+    .def("__repr__", &ImuParams::to_string)
     .doc() = "ImuParams is a structure for storing the parameters of an IMU";
 
   nb::class_<SO3>(m, "SO3")
@@ -491,15 +491,15 @@ inline void makeTypes(nb::module_& m) {
     .def_ro("qw", &SO3::qw, "Scalar component of the quaternion.")
     .def_static("identity", &SO3::identity, "Create an identity rotation.")
     .def_static(
-      "fromMat",
-      &SO3::fromMat,
+      "from_mat",
+      &SO3::from_mat,
       "mat"_a,
       "Create a rotation from a 3x3 rotation matrix."
     )
     .def_static("exp", &SO3::exp, "v"_a, "Create a rotation from a 3D vector.")
     .def("inverse", &SO3::inverse, "Compute the inverse of the rotation.")
     .def("log", &SO3::log, "Compute the logarithm of the rotation.")
-    .def("toMat", &SO3::toMat, "Convert the rotation to a 3x3 matrix.")
+    .def("to_mat", &SO3::to_mat, "Convert the rotation to a 3x3 matrix.")
     .def("rotate", &SO3::rotate, "v"_a, "Rotate a 3D vector by the rotation.")
     .def(nb::self * nb::self, "Compose two rotations.")
     .def(
@@ -512,7 +512,7 @@ inline void makeTypes(nb::module_& m) {
       "Check for inequality",
       nb::sig("def __ne__(self, arg: object, /) -> bool")
     )
-    .def("__repr__", &SO3::toString)
+    .def("__repr__", &SO3::to_string)
     .def("__copy__", [](const SO3& self) { return SO3(self); })
     .def(
       "__deepcopy__",
@@ -551,14 +551,14 @@ inline void makeTypes(nb::module_& m) {
     .def(nb::init<SE3>(), "other"_a, "Copy constructor for SE3.")
     .def_static("identity", &SE3::identity, "Create an identity SE3.")
     .def_static(
-      "fromMat",
-      &SE3::fromMat,
+      "from_mat",
+      &SE3::from_mat,
       "mat"_a,
       "Create a SE3 from a 4x4 transformation matrix."
     )
     .def_ro("rot", &SE3::rot, "Rotation as a SO3 object.")
     .def_ro("trans", &SE3::trans, "Translation as a 3D vector.")
-    .def("toMat", &SE3::toMat, "Convert to a 4x4 matrix.")
+    .def("to_mat", &SE3::to_mat, "Convert to a 4x4 matrix.")
     .def("inverse", &SE3::inverse, "Compute the inverse.")
     .def_static(
       "error",
@@ -588,7 +588,7 @@ inline void makeTypes(nb::module_& m) {
       "Check for inequality",
       nb::sig("def __ne__(self, arg: object, /) -> bool")
     )
-    .def("__repr__", &SE3::toString)
+    .def("__repr__", &SE3::to_string)
     .def("__copy__", [](const SE3& self) { return SE3(self); })
     .def(
       "__deepcopy__",
diff --git a/cpp/evalio/convert/sophus.h b/cpp/evalio/convert/sophus.h
index a57d6a28..19e70182 100644
--- a/cpp/evalio/convert/sophus.h
+++ b/cpp/evalio/convert/sophus.h
@@ -18,7 +18,7 @@ inline SE3 convert(const Sophus::SE3d& in) {
 
 template<>
 inline Sophus::SE3d convert(const SE3& in) {
-  return Sophus::SE3d(Sophus::SO3d(in.rot.toEigen()), in.trans);
+  return Sophus::SE3d(Sophus::SO3d(in.rot.to_eigen()), in.trans);
 }
 
 } // namespace evalio
diff --git a/cpp/evalio/types.h b/cpp/evalio/types.h
index f5941ab3..c10a51ad 100644
--- a/cpp/evalio/types.h
+++ b/cpp/evalio/types.h
@@ -36,11 +36,11 @@ struct Duration {
     return nsec;
   }
 
-  std::string toString() const {
-    return "Duration(" + toStringBrief() + ")";
+  std::string to_string() const {
+    return "Duration(" + to_string_brief() + ")";
   }
 
-  std::string toStringBrief() const {
+  std::string to_string_brief() const {
     return std::to_string(to_sec());
   }
 
@@ -95,11 +95,11 @@ struct Stamp {
     return double(sec) + double(nsec) * 1e-9;
   }
 
-  std::string toString() const {
-    return "Stamp(" + toStringBrief() + ")";
+  std::string to_string() const {
+    return "Stamp(" + to_string_brief() + ")";
   }
 
-  std::string toStringBrief() const {
+  std::string to_string_brief() const {
     size_t n_zeros = 9;
     auto nsec_str = std::to_string(nsec);
     auto nsec_str_leading =
@@ -146,7 +146,7 @@ struct Point {
   uint8_t row = 0;
   uint16_t col = 0;
 
-  std::string toString() const {
+  std::string to_string() const {
     return "Point(x: " + std::to_string(x) + ", y: " + std::to_string(y)
       + ", z: " + std::to_string(z) + ", intensity: "
       + std::to_string(intensity) + ", t: " + std::to_string(t.to_sec())
@@ -173,9 +173,9 @@ struct LidarMeasurement {
   LidarMeasurement(Stamp stamp, std::vector<Point> points) :
     stamp(stamp), points(points) {}
 
-  std::string toString() const {
+  std::string to_string() const {
     std::ostringstream oss;
-    oss << "LidarMeasurement(stamp: " << stamp.toStringBrief()
+    oss << "LidarMeasurement(stamp: " << stamp.to_string_brief()
         << ", num_points: " << points.size() << ")";
     return oss.str();
   }
@@ -227,7 +227,7 @@ struct LidarParams {
   std::string brand = "-";
   std::string model = "-";
 
-  std::string toString() const {
+  std::string to_string() const {
     return "LidarParams(rows: " + std::to_string(num_rows)
       + ", cols: " + std::to_string(num_columns) + ", min_range: "
       + std::to_string(min_range) + ", max_range: " + std::to_string(max_range)
@@ -244,9 +244,9 @@ struct ImuMeasurement {
   Eigen::Vector3d gyro;
   Eigen::Vector3d accel;
 
-  std::string toString() const {
+  std::string to_string() const {
     std::ostringstream oss;
-    oss << "ImuMeasurement(stamp: " << stamp.toStringBrief() << ", gyro: ["
+    oss << "ImuMeasurement(stamp: " << stamp.to_string_brief() << ", gyro: ["
         << gyro.transpose() << "]"
         << ", accel: [" << accel.transpose() << "])";
     return oss.str();
@@ -285,7 +285,7 @@ struct ImuParams {
     return imu_params;
   }
 
-  std::string toString() const {
+  std::string to_string() const {
     std::ostringstream oss;
     oss << "ImuParams(gyro: " << gyro << ", accel: " << accel
         << ", gyro_bias: " << gyro_bias << ", accel_bias: " << accel_bias
@@ -302,11 +302,11 @@ struct SO3 {
   double qz;
   double qw;
 
-  Eigen::Quaterniond toEigen() const {
+  Eigen::Quaterniond to_eigen() const {
     return Eigen::Quaterniond(qw, qx, qy, qz);
   }
 
-  static SO3 fromEigen(const Eigen::Quaterniond& q) {
+  static SO3 from_eigen(const Eigen::Quaterniond& q) {
     return SO3 {.qx = q.x(), .qy = q.y(), .qz = q.z(), .qw = q.w()};
   }
 
@@ -314,8 +314,8 @@ struct SO3 {
     return SO3 {.qx = 0, .qy = 0, .qz = 0, .qw = 1};
   }
 
-  static SO3 fromMat(const Eigen::Matrix3d& R) {
-    return fromEigen(Eigen::Quaterniond(R));
+  static SO3 from_mat(const Eigen::Matrix3d& R) {
+    return from_eigen(Eigen::Quaterniond(R));
   }
 
   SO3 inverse() const {
@@ -323,11 +323,11 @@ struct SO3 {
   }
 
   SO3 operator*(const SO3& other) const {
-    return fromEigen(toEigen() * other.toEigen());
+    return from_eigen(to_eigen() * other.to_eigen());
   }
 
   Eigen::Vector3d rotate(const Eigen::Vector3d& v) const {
-    return toEigen() * v;
+    return to_eigen() * v;
   }
 
   static Eigen::Matrix3d hat(const Eigen::Vector3d& xi) {
@@ -339,25 +339,25 @@ struct SO3 {
   static SO3 exp(const Eigen::Vector3d& v) {
     Eigen::AngleAxisd axis(v.norm(), v.normalized());
     Eigen::Quaterniond q(axis);
-    return fromEigen(q);
+    return from_eigen(q);
   }
 
   Eigen::Vector3d log() const {
-    Eigen::Quaterniond q = toEigen();
+    Eigen::Quaterniond q = to_eigen();
     auto axis = Eigen::AngleAxisd(q);
     return axis.angle() * axis.axis();
   }
 
-  Eigen::Matrix3d toMat() const {
-    return toEigen().toRotationMatrix();
+  Eigen::Matrix3d to_mat() const {
+    return to_eigen().toRotationMatrix();
   }
 
-  std::string toString() const {
+  std::string to_string() const {
     return "SO3(x: " + std::to_string(qx) + ", y: " + std::to_string(qy)
       + ", z: " + std::to_string(qz) + ", w: " + std::to_string(qw) + ")";
   }
 
-  std::string toStringBrief() const {
+  std::string to_string_brief() const {
     return "x: " + std::to_string(qx) + ", y: " + std::to_string(qy)
       + ", z: " + std::to_string(qz) + ", w: " + std::to_string(qw);
   }
@@ -381,13 +381,13 @@ struct SE3 {
     return SE3(SO3::identity(), Eigen::Vector3d::Zero());
   }
 
-  static SE3 fromMat(const Eigen::Matrix4d& T) {
-    return SE3(SO3::fromMat(T.block<3, 3>(0, 0)), T.block<3, 1>(0, 3));
+  static SE3 from_mat(const Eigen::Matrix4d& T) {
+    return SE3(SO3::from_mat(T.block<3, 3>(0, 0)), T.block<3, 1>(0, 3));
   }
 
-  Eigen::Matrix4d toMat() const {
+  Eigen::Matrix4d to_mat() const {
     Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
-    T.block<3, 3>(0, 0) = rot.toMat();
+    T.block<3, 3>(0, 0) = rot.to_mat();
     T.block<3, 1>(0, 3) = trans;
     return T;
   }
@@ -451,9 +451,9 @@ struct SE3 {
     return SE3(rot * other.rot, rot.rotate(other.trans) + trans);
   }
 
-  std::string toString() const {
+  std::string to_string() const {
     std::ostringstream oss;
-    oss << "SE3(rot: [" << rot.toStringBrief() << "], "
+    oss << "SE3(rot: [" << rot.to_string_brief() << "], "
         << "t: [" << trans.transpose() << "])";
     return oss.str();
   }
diff --git a/python/evalio/datasets/botanic_garden.py b/python/evalio/datasets/botanic_garden.py
index e07278bc..f0ba2c8d 100644
--- a/python/evalio/datasets/botanic_garden.py
+++ b/python/evalio/datasets/botanic_garden.py
@@ -65,7 +65,7 @@ def ground_truth_raw(self) -> Trajectory:
     # ------------------------- For loading params ------------------------- #
     def imu_T_lidar(self) -> SE3:
         # https://github.com/robot-pesg/BotanicGarden/blob/main/calib/extrinsics/calib_chain.yaml
-        return SE3.fromMat(
+        return SE3.from_mat(
             np.array(
                 [
                     [
diff --git a/python/evalio/datasets/cumulti.py b/python/evalio/datasets/cumulti.py
index 76c8be91..33b49cf3 100644
--- a/python/evalio/datasets/cumulti.py
+++ b/python/evalio/datasets/cumulti.py
@@ -114,7 +114,7 @@ def ground_truth_raw(self) -> Trajectory:
     # ------------------------- For loading params ------------------------- #
     def imu_T_lidar(self) -> SE3:
         # Supplied by CU-Multi Authors
-        return SE3.fromMat(
+        return SE3.from_mat(
             np.array(
                 [
                     [-1.0, 0.0, 0.0, -0.058038],
diff --git a/python/evalio/datasets/helipr.py b/python/evalio/datasets/helipr.py
index 6c4b9044..ef87c70f 100644
--- a/python/evalio/datasets/helipr.py
+++ b/python/evalio/datasets/helipr.py
@@ -86,7 +86,7 @@ def ground_truth_raw(self) -> Trajectory:
     # ------------------------- For loading params ------------------------- #
     def imu_T_lidar(self) -> SE3:
         return SE3(
-            SO3.fromMat(
+            SO3.from_mat(
                 np.array(
                     [
                         [0.999715495593027, 0.0223448061210468, -0.00834490926264448],
diff --git a/python/evalio/datasets/multi_campus.py b/python/evalio/datasets/multi_campus.py
index cfebf082..97cf11a7 100644
--- a/python/evalio/datasets/multi_campus.py
+++ b/python/evalio/datasets/multi_campus.py
@@ -88,7 +88,7 @@ def imu_T_lidar(self) -> SE3:
         # The NTU sequences use the ATV platform
         # Taken from calib file at: https://mcdviral.github.io/Download.html#calibration
         if "ntu" in self.seq_name:
-            return SE3.fromMat(
+            return SE3.from_mat(
                 np.array(
                     [
                         [
@@ -116,7 +116,7 @@ def imu_T_lidar(self) -> SE3:
         # The KTH and TUHH sequences use the hand-held platform
         # Taken from calib file at: https://mcdviral.github.io/Download.html#calibration
         elif "kth" in self.seq_name or "tuhh" in self.seq_name:
-            return SE3.fromMat(
+            return SE3.from_mat(
                 np.array(
                     [
                         [
diff --git a/tests/test_se3.py b/tests/test_se3.py
index 9de5dfc3..4c500ab1 100644
--- a/tests/test_se3.py
+++ b/tests/test_se3.py
@@ -39,7 +39,7 @@ def test_from_matrix():
     mat[:3, :3] = r.as_matrix()
     mat[:3, 3] = t
 
-    se3 = SE3.fromMat(mat)
+    se3 = SE3.from_mat(mat)
 
     is_close(T(r, t), se3)
 
@@ -56,7 +56,7 @@ def test_to_matrix():
     mat[:3, :3] = r.as_matrix()
     mat[:3, 3] = t
 
-    assert np.allclose(mat, se3.toMat())
+    assert np.allclose(mat, se3.to_mat())
 
 
 def test_log_exp():
diff --git a/tests/test_so3.py b/tests/test_so3.py
index 5382cbd6..a2510a82 100644
--- a/tests/test_so3.py
+++ b/tests/test_so3.py
@@ -22,7 +22,7 @@ def test_constructor():
 
 def test_from_matrix():
     r = R.from_rotvec([0.1, 0.2, 0.3])
-    so3 = SO3.fromMat(r.as_matrix())
+    so3 = SO3.from_mat(r.as_matrix())
     is_close(r, so3)