def get_RS_and_optimization_config(enable_filtering, enable_optimization):
  """
  Get configuration struct for end-to-end testing for:
    "RANSAC based on scalar part inliers" algorithm
    with optional pre-filtering and optimization.
  """

  (time_alignment_config, hand_eye_config) = get_RANSAC_scalar_part_inliers_config(
      enable_filtering)

  optimiztion_config = OptimizationConfig()
  optimiztion_config.enable_optimization = enable_optimization
  optimiztion_config.optimization_only = False

  algorithm_name = (hand_eye_config.algorithm_name +
                    ("_opt" if enable_optimization else "_no_opt"))

  return (algorithm_name, time_alignment_config, hand_eye_config, optimiztion_config)

  Get configuration struct for end-to-end testing for:
    "RANSAC based on scalar part inliers" algorithm
    with optional pre-filtering and optimization.
  
hand_eye_calibration_experiments/python/hand_eye_calibration_experiments/all_algorithm_configs.py