How do I make a 3D map of ORB keypoints using 1 camera

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I am trying to create an object tracking solution using SLAM. I want to create a 3D map of the keypoints in multiple images using 1 camera. I have done some research and almost all of the tutorials out there for calculating distance from point to camera are using 2 cameras (stereo cameras). Is there a way to achive the same thing using only 1 camera?