Vision Based Boundary Setting and Calibration of a Camera

A camera system includes a camera, a processor, and a memory. In response to a first commissioning signal, the camera system records a first image comprising a token in a first position. In response to a second commissioning signal, the camera system records a second image comprising the token in a second position. In response to a third commissioning signal, the camera system records a third image comprising the token in a third position. The camera system computes a field of interest boundary for a visual field of the camera system based on the first position, the second position, and the third position.