Deskew the scans by default (#432)

* Remove --deskew as a cli option. Generate a warning to advertise this to
the user

* Restruct string

* Change print message

* Fix black

* Minor fix

---------

Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com>

python/kiss_icp/config/parser.py

@@ -64,17 +64,10 @@ def _yaml_source(config_file: Optional[Path]) -> Dict[str, Any]:
     return data or {}
 
 
-def load_config(
-    config_file: Optional[Path], deskew: Optional[bool], max_range: Optional[float]
-) -> KISSConfig:
-    """Load configuration from an Optional yaml file. Additionally, deskew and max_range can be
-    also specified from the CLI interface"""
-
+def load_config(config_file: Optional[Path], max_range: Optional[float]) -> KISSConfig:
     config = KISSConfig(**_yaml_source(config_file))
 
     # Override defaults from command line
-    if deskew is not None:
-        config.data.deskew = deskew
     if max_range is not None:
         config.data.max_range = max_range
 

python/kiss_icp/pipeline.py

@@ -43,7 +43,6 @@ def __init__(
         self,
         dataset,
         config: Optional[Path] = None,
-        deskew: Optional[bool] = False,
         max_range: Optional[float] = None,
         visualize: bool = False,
         n_scans: int = -1,
@@ -58,7 +57,7 @@ def __init__(
         self._last = self._jump + self._n_scans
 
         # Config and output dir
-        self.config = load_config(config, deskew=deskew, max_range=max_range)
+        self.config = load_config(config, max_range=max_range)
         self.results_dir = None
 
         # Pipeline

python/kiss_icp/tools/cmd.py

@@ -155,7 +155,7 @@ def kiss_icp_pipeline(
         is_flag=True,
         help="[Optional] Whether or not to deskew the scan or not",
     ),
-    # Aditional Options ---------------------------------------------------------------------------
+    # Additional Options ---------------------------------------------------------------------------
     visualize: bool = typer.Option(
         False,
         "--visualize",
@@ -225,7 +225,14 @@ def kiss_icp_pipeline(
         print(f"[WARNING] '{dataloader}' does not support '--jump', starting from first frame")
         jump = 0
 
-    # Lazy-loading for faster CLI
+    print(
+        f"[WARNING] KISS-ICP now deskews the scans by default. If you want to change this behaviour create and edit a configuration file using 'kiss_icp_dump_config'. Then run using --config <your_config>."
+    )
+    if deskew:
+        print(
+            f"[WARNING] The option '--deskew' is deprecated and might be removed in future versions."
+        )
+
     from kiss_icp.datasets import dataset_factory
     from kiss_icp.pipeline import OdometryPipeline
 
@@ -239,7 +246,6 @@ def kiss_icp_pipeline(
             meta=meta,
         ),
         config=config,
-        deskew=deskew,
         max_range=max_range,
         visualize=visualize,
         n_scans=n_scans,