def get_baseline_config(prefilter_poses):
  """
  Get config for the "Baseline" algorithm.
  """
  (time_alignment_config, hand_eye_config) = get_basic_config()

  if prefilter_poses:
    hand_eye_config.algorithm_name = "baseline_filter"
  else:
    hand_eye_config.algorithm_name = "baseline_no_filter"

  hand_eye_config.use_baseline_approach = True

  # Select distinctive poses based on skrew axis
  hand_eye_config.prefilter_poses_enabled = prefilter_poses

  hand_eye_config.enable_exhaustive_search = False

  return (time_alignment_config, hand_eye_config)

  Get config for the "Baseline" algorithm.
  
hand_eye_calibration/python/hand_eye_calibration/algorithm_config.py