Camera Calibration
 

I have been looking over the CMUCam2 Workbook and I have a question about calibrating the camera. The manual makes it seem like you only have to calibrate the camera for the YCrCb color space if you can not properly calibrate it for the RGB color space. Is this correct? If it is necessary to calibrate the camera for only one color space, which color space seems to be more accurate? Finally, how much tweaking needs to be done to get the camera to recognize the target in different lighting?

Thanks for any input you can provide.