map init

[Wayne-xixi]

Hi, if I know all poses of fiducials, I want to manually create an ideal map.txt to localize the robot and set read_only_map to true. But for the map format "id x y z pan tilt roll variance numObservations links", how can I estimate the "variance numObservations links"?
Thanks in advance.

[ivan140]

Here's an example of my map.txt . Maybe it'll help you. All fiducials are in 2D and perpendicular to the camera in my case.

11 -0.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
12 -1.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
13 -2.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
14 -3.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
15 -4.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
16 -5.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
17 -6.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10
18 -7.550000 0.800000 0.000000 180.000000 -0.000000 0.000000 0.001000 10

The variance you need to tune similar to variances of other sensors (imu, odom, ...).