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The dome camera is obviously named for its dome shape. Everyone has seen these security cameras in businesses and stores. Because of its shape, its difficult to tell exactly where the camera is aiming unless you see it up close. Dome cameras are generally used inside buildings, although the armor domes can be used outside as well.
How far you need to see will determine what security camera lens you should use to best fit your application. A 4mm lens will give about a 70 degree angle of view with 35 feet of facial detail. This works great for residential or small office security camera applications. If you need to see further you would go with a higher powered lens. Keep in mind that the further you want to see will narrow the field of view of your picture.
The iris controls how much light is let into the camera lens. In the old days, cameras came with no iris control. If you needed to control the light levels you would have to purchase a special lens. Nowadays, most cameras come with automatic shutters which perform the same function as the iris - controlling how much light is let into the camera. Unless you have an application with extreme light levels (like at a beach) you probably won't need a special lens with iris control.