[Terry Sherman]

Kevin,

We investigated again last night and we proved that the resolution was indeed 160x240. Your default values are correct. So we went back to your proper defaults of pan_target 79 and tilt_target 119.

We based trying the rotation of the aspect ratio off the utilities that give us a screen shot of the image. We made an incorrect assumption that the image aspect ratio that the utilities used was the same as the CMUcam2 analysis. As it turns out it, the utilities don't display the decimated data of the CMUcam2 and thus represent the aspect ratio of the imaging module (640x480) rather than the CMUcam2 module (160x240).

Thanks for the support.
-Terry