Add from gitlab (#12)

pyproject.toml

@@ -8,7 +8,7 @@ authors = [
 ]
 license_files = "LICENSE"
 dependencies = [
-    "kiss-icp>=0.2.10",
+    "kiss-icp>=0.3.0",
     "diskcache>=5.3.0",
     "pytorch_lightning>=1.6.4",
 ]
@@ -30,8 +30,7 @@ Homepage = "https://github.com/PRBonn/MapMOS"
 
 [build-system]
 requires = [
-    "scikit_build_core>=0.3.3",
-    "pybind11",
+    "scikit_build_core","pybind11",
 ]
 build-backend = "scikit_build_core.build"
 

src/mapmos/config/parser.py

@@ -23,11 +23,13 @@
 # NOTE: This module was contributed by Markus Pielmeier on PR #63
 from __future__ import annotations
 
-import yaml
+import importlib
+import sys
+
 from pathlib import Path
 from typing import Any, Dict, Optional
 
-from pydantic import BaseSettings, PrivateAttr
+from pydantic_settings import BaseSettings
 
 from mapmos.config.config import (
     DataConfig,
@@ -43,31 +45,35 @@ class MapMOSConfig(BaseSettings):
     odometry: OdometryConfig = OdometryConfig()
     mos: MOSConfig = MOSConfig()
     training: TrainingConfig = TrainingConfig()
-    _config_file: Optional[Path] = PrivateAttr()
-
-    def __init__(self, config_file: Optional[Path] = None, *args, **kwargs):
-        self._config_file = config_file
-        super().__init__(*args, **kwargs)
 
-    def _yaml_source(self) -> Dict[str, Any]:
-        data = None
-        if self._config_file is not None:
-            with open(self._config_file) as cfg_file:
-                data = yaml.safe_load(cfg_file)
-        return data or {}
 
-    class Config:
-        @classmethod
-        def customise_sources(cls, init_settings, env_settings, file_secret_settings):
-            return init_settings, MapMOSConfig._yaml_source
+def _yaml_source(config_file: Optional[Path]) -> Dict[str, Any]:
+    data = None
+    if config_file is not None:
+        try:
+            yaml = importlib.import_module("yaml")
+        except ModuleNotFoundError:
+            print(
+                "Custom configuration file specified but PyYAML is not installed on your system,"
+                ' run `pip install "kiss-icp[all]"`. You can also modify the config.py if your '
+                "system does not support PyYaml "
+            )
+            sys.exit(1)
+        with open(config_file) as cfg_file:
+            data = yaml.safe_load(cfg_file)
+    return data or {}
 
 
 def load_config(config_file: Optional[Path]) -> MapMOSConfig:
     """Load configuration from an Optional yaml file."""
-    config = MapMOSConfig(config_file=config_file)
+    config = MapMOSConfig(**_yaml_source(config_file))
     return config
 
 
 def write_config(config: MapMOSConfig, filename: str):
     with open(filename, "w") as outfile:
-        yaml.dump(config.dict(), outfile, default_flow_style=False)
+        try:
+            yaml = importlib.import_module("yaml")
+            yaml.dump(config.model_dump(), outfile, default_flow_style=False)
+        except ModuleNotFoundError:
+            outfile.write(str(config.model_dump()))

src/mapmos/datasets/mapmos_dataset.py

@@ -216,8 +216,8 @@ def get_scan_and_map(
         scan_labels = scan_labels[valid_mask]
 
         if self.sequence != sequence:
-            data_config = DataConfig().parse_obj(data_config_dict)
-            odometry_config = OdometryConfig().parse_obj(odometry_config_dict)
+            data_config = DataConfig().model_validate(data_config_dict)
+            odometry_config = OdometryConfig().model_validate(odometry_config_dict)
 
             self.odometry = Odometry(data_config, odometry_config)
             self.gt_map = VoxelHashMap(odometry_config.voxel_size, data_config.max_range)