Method clear

src/PLPSLAM/data/map_database.cc:143–179

        }

        void map_database::clear()
        {
            std::lock_guard<std::mutex> lock(mtx_map_access_);

            for (auto &lm : landmarks_)
            {
                delete lm.second;
                lm.second = nullptr;
            }

            for (auto &keyfrm : keyframes_)
            {
                delete keyfrm.second;
                keyfrm.second = nullptr;
            }

            if (_b_seg_or_not)
            {
                for (auto &pl : _landmarks_plane)
                {
                    delete pl.second;
                    pl.second = nullptr;
                }

                _landmarks_plane.clear();
            }

            landmarks_.clear();
            keyframes_.clear();
            max_keyfrm_id_ = 0;
            local_landmarks_.clear();
            origin_keyfrm_ = nullptr;

            frm_stats_.clear();

            spdlog::info("clear map database");
        }

        void map_database::from_json(camera_database *cam_db, bow_vocabulary *bow_vocab, bow_database *bow_db,
                                     const nlohmann::json &json_keyfrms, const nlohmann::json &json_landmarks)