static void mapGarbage(){
        while(!posi.isDataReady());
                tempPositionX = posi.getX();
                tempPositionY = posi.getY();
                tempYaw = posi.getYaw();
        while(!fid.isDataReady());
        PlayerFiducialItem[] data = fid.getData().getFiducials();
        for(int i=0; i<data.length; i++) {
                double X = data[i].getPose().getPx() +0.1;
                double Y = data[i].getPose().getPy();
                if(Y<0)
                        Y = Y-0.1;
                else if(Y>0)
                        Y = Y+0.1;
                double distance =Math.sqrt((X * X)+(Y * Y));
                double angle = tempYaw + Math.atan2(Y,X);
                
                double xDistance = distance * Math.cos(angle);
                double yDistance = distance * Math.sin(angle);
                
                int ind1, ind2;
                ind1= (int)Math.round(RobotData.ARRAY_HEIGHT - RobotData.RESOLUTION*(RobotData.HEIGHT_OFFSET + (tempPositionY +yDistance)));
                ind2= (int)Math.round(RobotData.RESOLUTION*(RobotData.LENGTH_OFFSET+(tempPositionX + xDistance)));

                if (map[ind1][ind2] != 1 && validNeighbours(ind1, ind2) && Arrays.asList(5,6,7).contains(data[i].getId())){
                        map[ind1][ind2] = 2;
                }
                        
        }
    }