OP, post this question to the Reddit UAV Mapping subforum. Some of their answers on similar questions have been very good and sometimes downright creative.
I have way to many questions to ask but here is my opinion trying to stick to your requests.
1) Which drone can do this?
2) How does the drone do this? (i.e. Lidar, Photogrammetry, something else...)?
3) How accurate would it be? Would it be accurate up to less than 1 cm?
1. Many different drones could do this. A lot will depend on the building. Is this a skeletal structure, a complete building.
If the drone must fly inside a skeletal structure to obtain the images, then a Skydio X10 could be good with its obstalce avoidance. There are plenty of videos of this drone flying inside of a skeletal tower to obtain images.
Skydio X10
Skydio X10 autonomous drones deliver the best sensors for a drone this small, piloted by the most advanced AI in the sky.
www.skydio.com
Leica has a laser scanning drone
Leica Drone Scanner
Not too sure if this drone would far well inside a skeletal structure.
2. Both could work, but photogrammetry will be much lower cost and this again depends on the building and the ability of the drone to see as much as possible.
3. Accuracy can be in the cm range. I can't speak for Lidar and laser scanning as I have never used them persoannly , but photogrammetry can be as accurate as 1 to 3x the GSD. GSD is simply the resolution of your images, the distance from the center of a pixel to the center of the pixel next to it. The lower the GSD, the higher resolution your spatial product.
I can provide a link and you can assess some of it your self.
Here is a 3D model of a building, collected using RTK. Use the tools on the right to measure lines, areas etc.
Just remember, photogrammetry can only create what it has multiple images of. You could end up missing various sides of said steel beams introducing problems.
Some software will allow you to further reinforce your relative (scale) accuracy by introducing scale constraints - telling it how long something is that you know. Then it could also use a scale check by seeing the length of something as compared to its known length.
Notice you can only see and measure what was created and only the outside and small portions of the inside were created due to no images taken of those areas and this includes the back sides of items.
Up top right you have tools: Ruler - measure a line, point - get coordinates, line - draw a line and then see the length, slope on the right. area - draw a shape and then get perimeter, area, volume
I actually love it when people think outside of the box and create yet another drone use case.
I wish you luck.