A tutorial explaining how to use BLAM - The Blender Camera Calibration Toolkit. Check out the user's guide for further instructions github.com/stuffmatic/blam/wiki/User%27s-guide.
The image used in the tutorial can be downloaded here: github.com/stuffmatic/blam/tree/master/testimages
See github.com/stuffmatic/blam for source code and further information.
Music by soundcloud.com/leoparden