diff --git a/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp b/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
index 5a09b38e1..8189985ba 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
@@ -58,7 +58,7 @@ using namespace gtsam;
 using namespace boost::assign;
 namespace NM = gtsam::noiseModel;
 
-// #define USE_BUNDLER
+ #define USE_BUNDLER
 
 using symbol_shorthand::X;
 using symbol_shorthand::L;
@@ -109,8 +109,38 @@ void writeValues(string directory_, const Values& values){
       fout << endl;
     }
     fout.close();
+  } // end of if on landmarks
 
+}
+
+// Write key values to file
+void writeValuesBAL(string directory_, const Values& values, std::vector<int> vector_r, std::vector<int> vector_l,
+    std::vector<double> vector_u, std::vector<double> vector_v, int totNumPoses, int totNumLandmarks, int totNumMeasurements){
+
+  string filename = directory_ + "est_BAL_poses.txt";
+  ofstream fout;
+  fout.open(filename.c_str());
+  fout.precision(20);
+
+  fout << totNumPoses << " " << totNumLandmarks << " " << totNumMeasurements << endl;
+
+  for(size_t i=0; i<totNumMeasurements;i++){
+    fout << vector_r.at(i) << " " << vector_l.at(i) << " " << vector_u.at(i) << " " << vector_v.at(i) << endl;
   }
+
+  // write out camera poses
+  BOOST_FOREACH(Values::ConstFiltered<Pose3>::value_type key_value, values.filter<Pose3>()) {
+    Pose3 CurrPose = key_value.value;
+    fout << Pose3::Logmap(CurrPose) << endl;
+  }
+  if(values.filter<Point3>().size() > 0) {
+    // write landmarks
+    BOOST_FOREACH(Values::ConstFiltered<Point3>::value_type key_value, values.filter<Point3>()) {
+      fout << key_value.value.vector() << endl;
+    }
+    fout.close();
+  } // end of if on landmarks
+
 }
 
 void optimizeGraphLM(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr graphValues, Values &result, boost::shared_ptr<Ordering> &ordering) {
@@ -326,6 +356,7 @@ int main(int argc, char** argv) {
     fin >> rotx >> roty >> rotz  >> x >> y >> z >> f >> k1 >> k2;
     #ifdef USE_BUNDLER
         boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(f, k1, k2, 0.0, 0.0));
+        // cout << k1 << " " << k2 << endl;
         K_cameras.push_back(Kbundler);
     #else
         boost::shared_ptr<Cal3_S2> K_S2(new Cal3_S2(f, f, 0.0, 0.0, 0.0));
@@ -437,6 +468,8 @@ int main(int argc, char** argv) {
   cout << "===================================================" << endl;
   writeValues("./", result);
 
+  writeValuesBAL("./", result, vector_r, vector_l, vector_u, vector_v, totNumPoses, totNumLandmarks,  totNumMeasurements);
+
   if (debug) cout << numLandmarks << " " <<  numPoses << " " << optimized << endl;
 
   exit(0);