As husky alluded to, you could make the capsule slightly bigger and see if that stops you from sticking the camera through walls,
If your doing third person which it dosent appear you are, you can use a spring arm
Or if its a very slight thing you can go into project settings and change a setting called near camera clipping plane, tho i dont recommend this unless both of the above fail
Looks like your camera is substantially larger than the capsule… you can make the capsule bigger or, ive never tried it but possibly the camera smaller