If you don't know the height of an object that you want to fly over, how can you determine what to set RTH altitude to? Answer: You don't! Then what do you do?
1. Do all your normal pre-flight checks.
2. Insure your camera pitch is aimed straight in front of the drone - lens barrel horizontal, parallel to the horizon.
3. Ascend upward until you are at the level of the tallest object that you can see on the horizon as you yaw the ' copter around in a slow 360-degree circle.
4. Using your camera view as a guide, fly toward that object (slowly) until you cam distinctly make out the top of it.
5. Keeping your camera pointed at the object (and still level with the horizon), ascend until the top of the object is in the center of the camera's view. When it is, note the altitude that is shown on your controller display.
6. Add to that altitude the distance above that object you feel is safe and comfortable for your skills and experience level.
7. Use the resulting figure as your new RTH altitude.