chore: refactoring object size checker

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

@@ -316,10 +316,10 @@ bool BigVehicleTracker::measureWithShape(
   // check object size abnormality
   constexpr double size_max = 40.0;  // [m]
   constexpr double size_min = 1.0;   // [m]
-  bool isSizeValid =
+  bool is_size_valid =
     (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max &&
      object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min);
-  if (!isSizeValid) {
+  if (!is_size_valid) {
     return false;
   }
 

perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp

@@ -318,10 +318,10 @@ bool NormalVehicleTracker::measureWithShape(
   // check object size abnormality
   constexpr double size_max = 30.0;  // [m]
   constexpr double size_min = 1.0;   // [m]
-  bool isSizeValid =
+  bool is_size_valid =
     (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max &&
      object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min);
-  if (!isSizeValid) {
+  if (!is_size_valid) {
     return false;
   }
 

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

@@ -218,15 +218,14 @@ bool PedestrianTracker::measureWithShape(
     // check bound box size abnormality
     constexpr double size_max = 30.0;  // [m]
     constexpr double size_min = 0.1;   // [m]
-    if (
-      object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max ||
-      object.shape.dimensions.z > size_max) {
-      return false;
-    } else if (
-      object.shape.dimensions.x < size_min || object.shape.dimensions.y < size_min ||
-      object.shape.dimensions.z < size_min) {
+    bool is_size_valid =
+      (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max &&
+       object.shape.dimensions.z <= size_max && object.shape.dimensions.x >= size_min &&
+       object.shape.dimensions.y >= size_min && object.shape.dimensions.z >= size_min);
+    if (!is_size_valid) {
       return false;
     }
+
     // update bounding box size
     bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x;
     bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;