From e95840b1b5cb318f2fdf3a45112d032f28e92379 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 3 Sep 2020 00:33:38 -0400
Subject: [PATCH 1/2] new function readBal which returns the SfmData object,
 allowing for single line calling

---
 gtsam/slam/dataset.cpp | 7 +++++++
 gtsam/slam/dataset.h   | 8 ++++++++
 2 files changed, 15 insertions(+)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 4bd7bc7e2..4506bcdb2 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -1129,6 +1129,13 @@ bool readBAL(const string &filename, SfmData &data) {
   return true;
 }
 
+/* ************************************************************************* */
+SfmData readBAL(const string &filename) {
+  SfmData data;
+  readBAL(filename, data);
+  return data;
+}
+
 /* ************************************************************************* */
 bool writeBAL(const string &filename, SfmData &data) {
   // Open the output file
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 7ceca00f4..0bcdd7e8e 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -277,6 +277,14 @@ GTSAM_EXPORT bool readBundler(const std::string& filename, SfmData &data);
  */
 GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data);
 
+/**
+ * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data
+ * as a SfmData structure. Mainly used by wrapped code.
+ * @param filename The name of the BAL file.
+ * @return SfM structure where the data is stored.
+ */
+GTSAM_EXPORT SfmData readBAL(const std::string& filename);
+
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
  * SfmData structure

From f533729d3eaf9f0a44323d655d694af2c1f9ea51 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 3 Sep 2020 00:43:44 -0400
Subject: [PATCH 2/2] follow Google Style for function naming

---
 gtsam/slam/dataset.cpp | 2 +-
 gtsam/slam/dataset.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 4506bcdb2..270dbeb95 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -1130,7 +1130,7 @@ bool readBAL(const string &filename, SfmData &data) {
 }
 
 /* ************************************************************************* */
-SfmData readBAL(const string &filename) {
+SfmData readBal(const string &filename) {
   SfmData data;
   readBAL(filename, data);
   return data;
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 0bcdd7e8e..2e03c92d8 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -283,7 +283,7 @@ GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data);
  * @param filename The name of the BAL file.
  * @return SfM structure where the data is stored.
  */
-GTSAM_EXPORT SfmData readBAL(const std::string& filename);
+GTSAM_EXPORT SfmData readBal(const std::string& filename);
 
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a