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I've replaced 3 back up cameras on the back of my work truck, granted, they were all cheaper fleabay cameras, but all 3 ended up getting cloudy like your and it was from moisture getting between the lenses. You're probably going to end up replacing it.
some of the aftermarket cameras you can unscrew the lens for focusing sometimes there is a set screw on the side you have to release to be able to turn the lens assembly. if yours is one of those maybe try unscrew it and clean it with some ipa and a Q-tip.
From your picture it's hard to tell if problem is "fogging" or a problem with the CCD array inside.
To me the "block" pattern is indicative of CCD array failure or possibly the display, however I have nothing to compare it too here.
I'd be tempted to remove the camera (see photo) dismantle the clear lens cover (looks like a couple of screws) and give the inside of the cover and external lens-glass a clean as per bronxteck's suggestions.
If that doesn't work, the camera's lens may be removable, if so clean the CCD array's surface and the inside of the lens (note have to be optically/mirror clean)
Failing that check there is actually a 12V signal when in reverse, another possibility is the camera signal is being crippled (water ingress on the signal cable etc) or there's a problem with the mirror/radio display.
I'd be tempted to hook-up a cheap camera and see if that works (assume US is NTSC not PAL, very cheap on eBay)
I'll check it out this weekend when I get back home. The one on ebay looks like it has a scratched plastic housing. My housing is near perfect, so I'm guessing the problem is on the camera's insides. I'll see if it let's me take it apart easily.