Now it removes also features when relocalization. Added clear of landmarks

src/adc_landmarks_slam_solver_alg.cpp

@@ -64,6 +64,7 @@ bool AdcLandmarksSlamSolverAlgorithm::load_landmarks(const std::string& _landmar
   if (!landmarks_file.good())
     return false;
   std::map<double, LandmarkInfo>().swap(this->landmarks_);
+  this->landmarks_.clear();
   //Read the file
   double id, l1, l2, l3;
   int t;
@@ -97,6 +98,7 @@ bool AdcLandmarksSlamSolverAlgorithm::load_from_xodr(const std::string& _landmar
     road.set_min_road_length(0.01);
     road.load(_landmarks_file);
     std::map<double, LandmarkInfo>().swap(this->landmarks_);
+    this->landmarks_.clear();
 
     for(unsigned int i=0;i<road.get_num_segments();i++)
     {

src/adc_landmarks_slam_solver_alg_node.cpp

@@ -264,6 +264,12 @@ void AdcLandmarksSlamSolverAlgNode::mainNodeThread(void)
       //Remove candidates
       std::list<LandmarkCandidate>().swap(this->landmarks_candidates_);
       this->landmarks_candidates_.clear();
+      std::vector<FeatureInfo>().swap(this->front_features_);
+      this->front_features_.clear();
+      std::vector<FeatureInfo>().swap(this->rear_features_);
+      this->rear_features_.clear();
+      std::vector<FeatureInfo>().swap(this->features_);
+      this->features_.clear();
 
       this->new_initialpose_ = false;
       this->new_estimated_pose_ = true;