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[Bug fix] Make "Mapping" configuration field optional #559

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Feb 11, 2024
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[Bug fix] Make "Mapping" configuration field optional #559

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2 changes: 1 addition & 1 deletion src/stella_vslam/system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ system::system(const std::shared_ptr<config>& cfg, const std::string& vocab_file
// tracking module
tracker_ = new tracking_module(cfg_, camera_, map_db_, bow_vocab_, bow_db_);
// mapping module
mapper_ = new mapping_module(cfg_->yaml_node_["Mapping"], map_db_, bow_db_, bow_vocab_);
mapper_ = new mapping_module(util::yaml_optional_ref(cfg->yaml_node_, "Mapping"), map_db_, bow_db_, bow_vocab_);
// global optimization module
global_optimizer_ = new global_optimization_module(map_db_, bow_db_, bow_vocab_, cfg_->yaml_node_, camera_->setup_type_ != camera::setup_type_t::Monocular);

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