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Originally Posted by Kevin Sevcik
Is the camera tilted up slightly so the light can't move out of the top of the frame, or does it stay in at a reasonably short range?
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The default camera lens has a vertical field of view of about 34 degrees in our estimation. If you statically mount the camera at a given angle (say for example 28 degrees) from vertical, and mount it high (~4.5 ft up), you can see the target from 6 feet (the target is at the top of the frame) to 31 feet (the image is at the bottom of the frame). Moreover, the "my" data (y coordinate of the image centroid) is related to range by simple mathematics in the fixed tilt case.
Keeping in mind that the CMUcam2 uses S-Mount lenses, you can easily increase this operating range even more by purchasing lenses with higher fields of view, or you can adjust the entire bracket to be shorter or longer ranges by changing the tilt.