I'm trying to use hectorobjecttracker, to track some targets from aerial images (captured from a down facing camera on an aerial vehicle).

I already have a node for detection of the targets as well as extracting their position to the world reference frame.

From what I understood of the wiki page, I should publish this information to the "worldmodel/posepercept" topic, which uses messages of the type: "hectorworldmodel_msgs/PosePercept".

My problem is connected to the PerceptInfo msg: Since I only have one type of target the class information is easy to fill (using class_support=1). However I don't understand how I should handle the object information on that message. Furthermore, from inspection of hectorheatdetection node, that section seems to not be filled.

Thanks in advance