Recently ISRO released 3D terrain models of Mars' Ophir Chasma terrain as shown here. LiDAR is one instrument which helps in generating such 3D models. ISRO's MARS orbiter sensor payload does not have a LiDAR. Is it using any other instrument or is it calculating the depth information from just aerial images?
There are a couple of ways these can come. In the case of the image you provided, I believe they are using known altitude that comes from MOLA data which accurately found the elevation of the entire Martian surface, and using that to transform the image as it was. They are likely using some terrain features from the image to determine it's altitude as well.
There are two other ways to determine this information. The first is to use shadows to find the relative height of each surface, and appropriately manipulate that to get the right height. The second is to take two images, and use them much as our eyes do to see 3-d. There seems to only be a single image used to create these images, and the shadowing, while I suspect it might be used in part, likely isn't the only thing done with this image.