Which .....Any books or videos are great.|||books are great, but a school and a training partner are essential! If you have a good school with plenty of training partners, look into these books.
Guerrilla Jiu Jitsu- by Dave Camarillo
Mastering the Rubber Guard- by Eddie Bravo
Judo Unleashed- by Erick Krauss|||Both can be a great workout. In my experience, BJJ has a slight edge over Judo in terms of pure conditioning. That said, I am sure that it varies a tremendous amount from school to school, gym to gym, and even training partner to training partner. I would go check out a class of each, see how they run it, and I am sure you will see which one gives you the best work out.
Good luck.
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