def METHOD_NAME(self):
    config = self.parse_args()
    # Resolve conflicts
    if config.engine == 'legacy':
        if config.device.lower().startswith('cuda'):
            print('Legacy engine only supports CPU.', 'Fallback to CPU.')
            config.device = 'CPU:0'
        if config.odometry_method == 'frame2model':
            print('Legacy engine does not supports frame2model tracking.',
                  'Fallback to hybrid odometry.')
            config.odometry_method = 'hybrid'
    if config.engine == 'tensor':
        if config.icp_method == 'generalized':
            print('Tensor engine does not support generalized ICP.',
                  'Fallback to colored ICP.')
            config.icp_method = 'colored'
        if config.multiprocessing:
            print('Tensor engine does not support multiprocessing.',
                  'Disabled.')
            config.multiprocessing = False
    return config