diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index db5d7d76a..1611d78f6 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -167,10 +167,11 @@ GTSAM_EXPORT GraphAndValues load2D(
  * @param kernelFunctionType whether to wrap the noise model in a robust kernel
  * @return graph and initial values
  */
-GTSAM_EXPORT GraphAndValues load2D(const std::string& filename,
-    SharedNoiseModel model = SharedNoiseModel(), size_t maxIndex = 0, bool addNoise =
-        false, bool smart = true, NoiseFormat noiseFormat = NoiseFormatAUTO, //
-    KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
+GTSAM_EXPORT GraphAndValues
+load2D(const std::string& filename, SharedNoiseModel model = SharedNoiseModel(),
+       size_t maxIndex = 0, bool addNoise = false, bool smart = true,
+       NoiseFormat noiseFormat = NoiseFormatAUTO,  //
+       KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
 
 /** save 2d graph */
 GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
@@ -185,8 +186,9 @@ GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
  * @param kernelFunctionType whether to wrap the noise model in a robust kernel
  * @return graph and initial values
  */
-GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile, const bool is3D = false,
-    KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
+GTSAM_EXPORT GraphAndValues
+readG2o(const std::string& g2oFile, const bool is3D = false,
+        KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
 
 /**
  * @brief This function writes a g2o file from
diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index e044dd2c1..2b25a4369 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -253,17 +253,27 @@ bool writeBAL(string filename, gtsam::SfmData& data);
 gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
 gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
 
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
-    string filename, gtsam::noiseModel::Diagonal* model, int maxIndex,
-    bool addNoise, bool smart);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
-    string filename, gtsam::noiseModel::Diagonal* model, int maxIndex,
-    bool addNoise);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
-    string filename, gtsam::noiseModel::Diagonal* model, int maxIndex);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
-    string filename, gtsam::noiseModel::Diagonal* model);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
+enum NoiseFormat {
+  NoiseFormatG2O,
+  NoiseFormatTORO,
+  NoiseFormatGRAPH,
+  NoiseFormatCOV,
+  NoiseFormatAUTO
+};
+
+enum KernelFunctionType {
+  KernelFunctionTypeNONE,
+  KernelFunctionTypeHUBER,
+  KernelFunctionTypeTUKEY
+};
+
+std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
+    string filename, gtsam::noiseModel::Diagonal* model = nullptr,
+    size_t maxIndex = 0, bool addNoise = false, bool smart = true,
+    gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO,
+    gtsam::KernelFunctionType kernelFunctionType =
+        gtsam::KernelFunctionTypeNONE);
+
 void save2D(const gtsam::NonlinearFactorGraph& graph,
             const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
             string filename);
@@ -290,9 +300,10 @@ gtsam::BetweenFactorPose3s parse3DFactors(string filename);
 
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
 
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename,
-                                                           bool is3D);
+pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
+    string filename, const bool is3D = false,
+    gtsam::KernelFunctionType kernelFunctionType =
+        gtsam::KernelFunctionTypeNONE);
 void writeG2o(const gtsam::NonlinearFactorGraph& graph,
               const gtsam::Values& estimate, string filename);