Solution
Take the covers off. Rent a steam cleaner from the grocery store (some of them even have fragrances you can add to the cleaning solution). Let them dry for about a week in a cool dry place. Clean the foam with a light detergent, soft bristle brush and a hose. Give them a week to dry as well. If that fails, There is a place that sells custom cut foam at VERY reasonable prices (I am in no way affiliated with this company). Email me for the name. MMunson1@aol.com