VisualSFM is a software developed by Changchang Wu, distributed freely for personal, non-profit, and academic use. It consists in a GUI application for 3D reconstruction using structure from Motion (SFM). The reconstruction system integrates several of his previous projects that you can read about by visiting the official VisualSFM website.
VisualSFM is capable of feature detection, feature matching and bundle adjustment. The resulting output, a NVM file, contains input image paths and multiple 3D models. In SURE you can relly this output file as an external orientation, to build your desired products.
To acquire a NVM file for your dataset, follow the following tutorial on How to get an .nvm file from VisualSFM.