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In this sample image the penny (d=20.3mm) was at a distance of 20cm from the lens. The sensor used was a 1/3" Aptina MT9V024.
This lens has a large focal length and minimal distortion.
In these next images the sensor used was a 1/4" Sony ICX618. The first image is focused at a distance of 38mm from the lens and the second at 55mm. This lens has a medium f number of f5.6 creating a reasonable depth of field while still allowing a good amount of light to reach the sensor.