Estimating distance btw craft and object

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Hi folks. Here's a newbie question: The camera lenses on the Phantoms, Mavics etc are quite wide right? So when the craft faces an object, is it further or nearer to that object than it really is?
 
By The Way : When i'm out flying the drone and i land i seem to always get questions about the Drone as how far with it fly how high and how much do they cost ect....And ONE thing i always make clear is : My camera on the drone does Not have a Zoom Lens.......I can not zoom on objects or people....its a Wide Angle lens.
 
I feel like this is especially tricky when flying between or under things. The object appears farther away, but as you approach it starts seeming closer and closer to the side. Even if it's a 20' gap between bridge supports, it still makes me clench up.
 
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