enhance(polar_assignment_scoring): introduce scoring weights and thresholds for shape change detection

- Added constants for azimuth IoU shape check threshold and area ratio threshold to improve vehicle tracker performance.
- Defined scoring weights to prioritize azimuth IoU over radial and height metrics, refining the scoring mechanism for object association.

Author: technolojin

perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/scoring/polar_assignment_scoring.hpp

@@ -52,6 +52,15 @@ inline double normalizeAngle(double angle)
   return angle;
 }
 
+// Azimuth IoU threshold below which the shape-change check is activated for vehicle trackers
+constexpr double AZIMUTH_IOU_SHAPE_CHECK_THRESHOLD = 0.7;
+// Area ratio above which the shape change is considered significant
+constexpr double AREA_RATIO_THRESHOLD = 2.0;
+// Scoring weights: azimuth IoU is prioritized over radial and height
+constexpr double W_AZIMUTH = 0.7;
+constexpr double W_RADIAL = 0.2;
+constexpr double W_HEIGHT = 0.1;
+
 /// Compute polar footprint of an object relative to ego position and heading.
 /// Object pose and shape are in the map frame; the result is in ego-centric polar coordinates.
 /// @param object  Dynamic object with pose and shape in map frame

perception/autoware_multi_object_tracker/lib/association/scoring/polar_assignment_scoring.cpp

@@ -32,15 +32,6 @@ namespace
 {
 constexpr double MIN_RANGE = 1.0;  // Minimum range to avoid azimuth instability [m]
 constexpr double MIN_SPAN = 1e-6;  // Minimum span to avoid division by zero
-
-// Scoring weights: azimuth IoU is prioritized over radial and height
-constexpr double W_AZIMUTH = 0.7;
-constexpr double W_RADIAL = 0.2;
-constexpr double W_HEIGHT = 0.1;
-
-// Shape-change detection: check triggers when azimuth IoU is low but areas differ a lot
-constexpr double AZIMUTH_IOU_SHAPE_CHECK_THRESHOLD = 0.7;
-constexpr double AREA_RATIO_THRESHOLD = 2.0;
 }  // namespace
 
 PolarFootprint computePolarFootprint(