I am assuming that you have already installed Arduino CLI, and that you have the required ESP32 tools. You also need to install the ESP32 board manager in the Arduino IDE.
In the root directoy of this repo run arduino-cli compile -b esp32:esp32:esp32cam . to build the project, then connect the programmer and figure out on what port it is running, and run the following command after replacing the :PORT: with your port.
esptool.py --chip esp32 --port :PORT: write_flash -fs 4MB -fm dout 0x10000 build/esp32.esp32.esp32cam/Marble.ino.bin