diff --git a/.cproject b/.cproject
index 39b58e43a..65ba17ce7 100644
--- a/.cproject
+++ b/.cproject
@@ -2019,10 +2019,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="VisualSLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="SFMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>VisualSLAMExample.run</buildTarget>
+				<buildTarget>SFMExample.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -2059,6 +2059,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="SFMExample_bal.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>SFMExample_bal.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testImuFactor.run" path="build-debug/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j4</buildArguments>
diff --git a/examples/VisualSLAMExample.cpp b/examples/SFMExample.cpp
similarity index 97%
rename from examples/VisualSLAMExample.cpp
rename to examples/SFMExample.cpp
index e55e2971f..5e342af88 100644
--- a/examples/VisualSLAMExample.cpp
+++ b/examples/SFMExample.cpp
@@ -10,8 +10,8 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    VisualSLAMExample.cpp
- * @brief   A visualSLAM example for the structure-from-motion problem on a simulated dataset
+ * @file    SFMExample.cpp
+ * @brief   A structure-from-motion problem on a simulated dataset
  * @author  Duy-Nguyen Ta
  */
 
@@ -22,7 +22,7 @@
  */
 
 // For loading the data
-#include "visualSLAMdata.h"
+#include "SFMdata.h"
 
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
 #include <gtsam/geometry/Point2.h>
diff --git a/examples/visualSLAMdata.h b/examples/SFMdata.h
similarity index 95%
rename from examples/visualSLAMdata.h
rename to examples/SFMdata.h
index f481e8b6a..25442d527 100644
--- a/examples/visualSLAMdata.h
+++ b/examples/SFMdata.h
@@ -10,8 +10,8 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    visualSLAMdata.h
- * @brief   Simple visual SLAM example for the structure-from-motion problems
+ * @file    SFMMdata.h
+ * @brief   Simple example for the structure-from-motion problems
  * @author  Duy-Nguyen Ta
  */
 
diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp
index 446f5b4e2..7726bd75d 100644
--- a/examples/SelfCalibrationExample.cpp
+++ b/examples/SelfCalibrationExample.cpp
@@ -21,7 +21,7 @@
  */
 
 // For loading the data
-#include "visualSLAMdata.h"
+#include "SFMdata.h"
 
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
 #include <gtsam/geometry/Point2.h>
diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp
index 47f4bff5c..5d9515d14 100644
--- a/examples/VisualISAM2Example.cpp
+++ b/examples/VisualISAM2Example.cpp
@@ -23,7 +23,7 @@
  */
 
 // For loading the data
-#include "visualSLAMdata.h"
+#include "SFMdata.h"
 
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
 #include <gtsam/geometry/Point2.h>
diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp
index c9537a7e5..a468f2be2 100644
--- a/examples/VisualISAMExample.cpp
+++ b/examples/VisualISAMExample.cpp
@@ -23,7 +23,7 @@
  */
 
 // For loading the data
-#include "visualSLAMdata.h"
+#include "SFMdata.h"
 
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
 #include <gtsam/geometry/Point2.h>