reset and advance clear list of new features and landmarks

src/processor/processor_tracker_landmark.cpp

@@ -28,28 +28,27 @@ ProcessorTrackerLandmark::~ProcessorTrackerLandmark()
 
 void ProcessorTrackerLandmark::advanceDerived()
 {
-    for (auto match : matches_landmark_from_last_)
-    {
-        match.second.reset(); // TODO: Should we just remove the entries? What about match.first?
-    }
     matches_landmark_from_last_ = std::move(matches_landmark_from_incoming_);
     new_features_last_ = std::move(new_features_incoming_);
+
+    matches_landmark_from_incoming_.clear();
+    new_features_incoming_.clear();
+    new_landmarks_.clear();
 }
 
 void ProcessorTrackerLandmark::resetDerived()
 {
-    for (auto match : matches_landmark_from_last_)
-    {
-        match.second.reset(); // TODO: Should we just remove the entries? What about match.first?
-    }
     matches_landmark_from_last_ = std::move(matches_landmark_from_incoming_);
     new_features_last_ = std::move(new_features_incoming_);
+
+    matches_landmark_from_incoming_.clear();
+    new_features_incoming_.clear();
+    new_landmarks_.clear();
 }
 
 unsigned int ProcessorTrackerLandmark::processKnown()
 {
-    // clear matches list
-    matches_landmark_from_incoming_.clear();
+    assert(matches_landmark_from_incoming_.empty());
 
     // Find landmarks in incoming_ptr_
     FeatureBasePtrList known_features_list_incoming;
@@ -66,18 +65,14 @@ unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
     /* Rationale: A keyFrame will be created using the last Capture.
      *
      * First, we work on this Capture to detect new Features,
-     * eventually create Landmarks with them,
-     * and in such case create the new Factors feature-landmark.
-     * When done, we need to track these new Features to the incoming Capture.
-     *
-     * At the end, all new Features are appended to the lists of known Features in
-     * the last and incoming Captures.
+     * eventually create Landmarks with them.
+     * When done, we need to find these new Landmarks in the incoming Capture.
      */
 
-    // clear new lists
-    new_features_last_.clear();
-    new_features_incoming_.clear();
-    new_landmarks_.clear();
+    // assuming cleared new lists
+    assert(new_features_last_.empty());
+    assert(new_features_incoming_.empty());
+    assert(new_landmarks_.empty());
 
     // We first need to populate the \b last Capture with new Features
     unsigned int n = detectNewFeatures(_max_features,
@@ -102,8 +97,8 @@ unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
 
 void ProcessorTrackerLandmark::emplaceNewLandmarks()
 {
-    // First, make sure the list is empty and will only contain new lmks
-    new_landmarks_.clear();
+    // assuming empty list
+    assert(new_landmarks_.empty());
 
     // Create a landmark for each new feature in last Capture:
     for (auto new_feature_ptr : new_features_last_)