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In one of the tracking tools video tutorials, there is a hint that there is a focusing mode for the cameras. This doesnt seem to be present in the latest version. What is the best way to perform focussing - I've attempted to do it just by gauging it by eye with greyscale mode, but there must be a better way?

That's the best way to focus them. I generally make the individual grayscale camera view as large as possible, point it at a light fixture or similar high contrast object with long straight lines (window works great) and focus to that. It's best to focus in high quality greyscale, so you may need to plug the camera directly into the computer with no other cameras connected for best results.