OAK-D W PoE upper left corner of framer blurrier than upper right

CamiAmein

I am working with an OAK-D W and noticed that the upper left corner of the frame looks blurrier than the upper right. I noticed this behavior using two different cameras and then used an ChArUco target to verify. The transition between black and white pixels does seem to more in the left upper corner than the other three corners. Is there any reason this could be happening?
left:
right:
left:
right:

erik

Hi CamiAmein ,
Do you think it's a focus problem (with lenses) or ISP config? Have you already configured ISP settings, chroma&luma denois, sharpness.. as described in docs here?
Thanks, Erik

CamiAmein

Hi Erik, thanks for the help! I don't think its a focus problem because in my use case the camera is looking flat to the ground. The ISP values were all set to 0, but that can be experimented with to fix the problem.
Also for reference, these images better illustrate the problem. They are crops of the upper left to upper right corners of the frame from two different cameras with slight overlap. So the upper left of the first image is the upper right of the second. Both images have the blurring in the upper left corner even though they are different OAK-D W cameras.
first:

second:

erik

CamiAmein This seems like focus problem to me.. Lenses aren't exactly ideal, and sometimes can have non-uniformal focus throughout the lens (eg. at corners). Or what do you think could be the issue here?
Thanks, Erik

CamiAmein

erik I don't feel like it's a focus issue because the camera is equal distance from all 4 corners and so I would assume if it were focus the blur would occur in all corners not just one. Is it possible that some imperfection in the lense could be causing this issue? (Also I tested the ISP configs and ufortunately noticed little to no difference with this problem).

erik

Hi CamiAmein, to me this does look like lens imperfection issue, there have been a few reports of such on this forum as well. Have you tried all the different combinations of ISP settings?
Thanks, Erik