Hi Petter,
Inpho will export the files necessary.
UASMaster will export an XML file which contains camera calibration parameters, exterior orientation of photo stations (Xo, Yo, Zo, bivector x,y,z), and ground control points all together. This file is meant as a temporary file transferring to TBC, so I don't believe it can be read in the ESPA software as is.
UASMaster contains stereoscopic mapping functionality, though I have not used the ESPA software for comparison.
Project > Send to..

Select "Cameras and photos", and Ground control points. Hit Next >

Don't click Send on the last window, instead navigate to the project directory, in the BC_DATA folder. There is a *.XML file containing the camera and exterior orientation data.
Cheers,
Matt