cd ba
make ba
./ba --bal_file ../sequences/fr1xyz.txt

./ba --help

cd ba
make slam
./slam --bal_file ../sequences/fr2robot2.txt 

@InProceedings{OrtizCVPR2020,
author = {Ortiz, Joseph and Pupilli, Mark and Leutenegger, Stefan and Davison, Andrew J.},
title = {Bundle Adjustment on a Graph Processor},
booktitle = {{Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
year = {2020}
}