Probably for some version of done - download VisualSfm and give it a shot yourself if you want: http://ccwu.me/vsfm/ or for a purely mobile approach try http://seene.co/

I was talking about monocular SLAM (although since it's not really simultaneous... ALAM?)

Parent has a cool product too, as does http://structure.io/ - but that's not what I meant.