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16 lip 2016 · As noted @matt-grum, the most simple formula to estimate distance to the object is pinhole projection formula: $$ \frac{x}{f} = \frac{X}{d} $$ where \$x\$ is the size of the object on the sensor, \$f\$ is focal length of the lens, \$X\$ is the size of the object, and \$d\$ is distance from nodal point to the object.
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