Originally posted by mattdm (I'm interested to hear any tricks you might have, though.)
I found this formula quite usable:
H ~= 1730 a T
(T = f/d is the "tele factor" being ~1 for a normal lens and ~4 for a 200mm/135mm crop tele)
(d: sensor size in mm, f: focal length, a: aperture in mm = f/F, H: hyperfocal distance).
1730 reproduces the marks on Zeiss lenses.
Example:
135mm tele at f/16:
(a = 135mm/16 = ~8.5mm, T = 4 for APS-C)
H ~= 1730 * 8.5mm * 4 = 59m
But a fast guess would be 2000*10*4 = 80m which is good enough.