Running with different SLAM algorithms

I am trying to pipeline a different slam algorithm into this bundle adjustment implementation. Is there a straightforward method of inputting poses into this and just running bundle adjustment?

Start by locating the bundle adjustment implementation and its existing pose-input entry point. Trace how poses from the current SLAM pipeline reach bundle adjustment, then determine whether externally supplied poses can be accepted and how the workflow should be run with a different SLAM algorithm. Done means the supported input method and execution path are clearly established.

Written by the indexing model from the issue text.