@Daniel-Ryu The stereo sensors' lens can be adjusted which will change their focus. Looking at the videos you provided it seems to me that you should be able to achieve a lower reprojection error if you adjust the focus on the units. It looks like the VOXL1 is getting a better reprojection error number because the cameras are fairly close to in focus and there isn't much blurr/fuzz in the video stream. On your VOXL2 setup it looks to me that either the camera is out of focus or the lens is dirty.
To adjust the focus on our stereo cameras twist the lens housing clockwise or counterclockwise similarly to how you would on a DSLR lens. Look closely at the stereo cams and you will see 4 flat edges. I recommend using a 6mm wrench to engage 2 of the flat edges; from there you'll be able to rotate and adjust the lens as needed. It is possible to use something like tweezers or small pliers to accomplish this however I recommend against that method because it is too easy for the tool to slip off and end up scratching the lens.
To clean the lens I recommend using a clean microfiber cloth, a lens tissue, or a fresh q-tip
