In this paper we propose a new approach for visual-servoing with respect to a set of 3D straight lines. The main difference with respect to previous approaches is that the new scheme can be used with a zooming camera or even if the reference image has been learned with a different camera. The zoom is particularly useful in order to keep the visual features in the camera field of view and/or to bound their size in the image reducing the influence of noise on features extraction. Experiment with a zooming camera have validated the method while a realistic simulation has validated the vision-based control law.