refactor(polar_association): rename scoring file and update references

- Renamed polar_scoring.hpp to polar_assignment_scoring.hpp to better reflect its functionality.
- Updated include paths in polar_association.hpp and polar_association.cpp to reference the new scoring file.
- Introduced the calculatePolarAssignmentScore function to enhance the scoring mechanism for polar coordinates, improving the overall association process.

Author: technolojin

perception/autoware_multi_object_tracker/CMakeLists.txt

@@ -45,7 +45,7 @@ set(${PROJECT_NAME}_lib
   lib/association/tracker_overlap_manager.cpp
   lib/association/polar_association.cpp
   lib/association/scoring/bev_assignment_scoring.cpp
-  lib/association/scoring/polar_scoring.cpp
+  lib/association/scoring/polar_assignment_scoring.cpp
   lib/association/scoring/redundancy_check.cpp
   lib/association/mu_successive_shortest_path/mu_ssp.cpp
   lib/types.cpp

perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/polar_association.hpp

@@ -16,7 +16,7 @@
 #define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__POLAR_ASSOCIATION_HPP_
 
 #include "autoware/multi_object_tracker/association/association_base.hpp"
-#include "autoware/multi_object_tracker/association/scoring/polar_scoring.hpp"
+#include "autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp"
 #include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp"
 #include "autoware/multi_object_tracker/configurations.hpp"
 #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"

…er/association/scoring/polar_scoring.hpp …ion/scoring/polar_assignment_scoring.hppperception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/scoring/polar_scoring.hpp renamed to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/scoring/polar_scoring.hpp renamed to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_SCORING_HPP_
-#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_SCORING_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_ASSIGNMENT_SCORING_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_ASSIGNMENT_SCORING_HPP_
 
 #include "autoware/multi_object_tracker/types.hpp"
 
@@ -75,16 +75,16 @@ double radialCompatibility(double r_min_a, double r_min_b);
 double heightIoU(double z_min_a, double z_max_a, double z_min_b, double z_max_b);
 
 /// Compute a combined [0, 1] polar assignment score.
-/// Mirrors calculateAssignmentScore() from assignment_scoring for BEV.
+/// Mirrors calculateBevAssignmentScore() for polar coordinates.
 /// Returns 0.0 when the pair fails the min_iou gate.
 /// Sets has_significant_shape_change when the pair is a vehicle tracker and their areas
 /// differ noticeably despite a low azimuth IoU.
-double calculatePolarScore(
+double calculatePolarAssignmentScore(
   const PolarFootprint & meas_fp, const PolarFootprint & tracker_fp,
   const types::DynamicObject & measurement_object, const types::DynamicObject & tracked_object,
   types::TrackerType tracker_type, double min_iou, bool & has_significant_shape_change);
 
 }  // namespace polar_scoring
 }  // namespace autoware::multi_object_tracker
 
-#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_SCORING_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SCORING__POLAR_ASSIGNMENT_SCORING_HPP_

perception/autoware_multi_object_tracker/lib/association/polar_association.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/multi_object_tracker/association/polar_association.hpp"
 
-#include "autoware/multi_object_tracker/association/scoring/polar_scoring.hpp"
+#include "autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp"
 #include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp"
 #include "autoware/multi_object_tracker/types.hpp"
 
@@ -203,7 +203,7 @@ void PolarAssociation::processMeasurement(
     if (near_face_gap > NEAR_FACE_GAP_THRESHOLD) continue;
 
     bool has_significant_shape_change = false;
-    const double score = polar_scoring::calculatePolarScore(
+    const double score = polar_scoring::calculatePolarAssignmentScore(
       meas_fp, tracker_fp, measurement_object, tracked_object, tracker_type,
       association_params.min_iou, has_significant_shape_change);
 

…ib/association/scoring/polar_scoring.cpp …ion/scoring/polar_assignment_scoring.cppperception/autoware_multi_object_tracker/lib/association/scoring/polar_scoring.cpp renamed to perception/autoware_multi_object_tracker/lib/association/scoring/polar_assignment_scoring.cpp perception/autoware_multi_object_tracker/lib/association/scoring/polar_scoring.cpp renamed to perception/autoware_multi_object_tracker/lib/association/scoring/polar_assignment_scoring.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/multi_object_tracker/association/scoring/polar_scoring.hpp"
+#include "autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp"
 
 #include "autoware/multi_object_tracker/object_model/shapes.hpp"
 
@@ -130,7 +130,7 @@ double heightIoU(
   return std::min(1.0, overlap / span);
 }
 
-double calculatePolarScore(
+double calculatePolarAssignmentScore(
   const PolarFootprint & meas_fp, const PolarFootprint & tracker_fp,
   const types::DynamicObject & measurement_object, const types::DynamicObject & tracked_object,
   const types::TrackerType tracker_type, const double min_iou, bool & has_significant_shape_change)