Easy monocular camera self-calibration algorithm

Question

I have a video of a road/building and I want to create a 3D model out of it. The scene I am looking at is rigid and the drone is moving. I assume not having any extra info like

Answer 1

Is this a one-shot thing, or are you developing an app to process lots videos like these automatically?

If the former, I'd rather use an integrated tool like Blender. Look up one of the motion tracking (or "matchmoving") tutorials on youtube to get an idea of it, for example this one.