def get_exhaustive_search_scalar_part_inliers_config():
  """
  Get config for the "Exhaustive search - scalar part inliers" algorithm.
  """
  (time_alignment_config, hand_eye_config) = get_basic_config()

  hand_eye_config.algorithm_name = "ES"

  # Prefiltering is mandatory for exhaustive search,
  # otherwise it takes forever.
  hand_eye_config.prefilter_poses_enabled = True

  # RANSAC
  hand_eye_config.ransac_sample_size = 1
  hand_eye_config.enable_exhaustive_search = True

  # Inlier/Outlier detection
  hand_eye_config.ransac_inlier_classification = "scalar_part_equality"

  return (time_alignment_config, hand_eye_config)

  Get config for the "Exhaustive search - scalar part inliers" algorithm.
  
hand_eye_calibration/python/hand_eye_calibration/algorithm_config.py