Remove landmark links when a node is deleted (and removed from the graph) #441

corelib/include/rtabmap/core/Signature.h

@@ -92,6 +92,7 @@ public:
 
 	void addLandmark(const Link & landmark) {_landmarks.insert(std::make_pair(landmark.to(), landmark));}
 	const std::map<int, Link> & getLandmarks() const {return _landmarks;}
+	void removeLandmarks() {_landmarks.clear();}
 
 	void setSaved(bool saved) {_saved = saved;}
 	void setModified(bool modified) {_modified = modified; _linksModified = modified;}

corelib/src/Memory.cpp

@@ -2343,6 +2343,7 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
 
 			}
 			s->removeLinks(); // remove all links
+			s->removeLandmarks(); // remove all landmarks
 			s->setWeight(0);
 			s->setLabel(""); // reset label
 		}