1. Product Introduction

The XEMA Series Camera is a structured-light 3D Camera based on DLP projection. Its core components include the TI DLP3010 projector chip, Sony IMX392 imaging chip, and Nvidia Jetson Nano computing module. Data transmission uses a GigE interface and supports multiple exposure modes. It is suitable for highly reflective workpieces, small sheet metal parts, track links, and black rods, as well as for 3D scanning and industrial 3D defect inspection. It can also be used with industrial robots in scenarios such as industrial random bin picking and loading/unloading.

The camera is CE/FCC/RoHS certified

2. Safety Precautions

Please read the safety precautions carefully and operate in strict accordance with the following specifications. Otherwise, the camera may be seriously damaged. Dexforce is not responsible for any resulting maintenance issues

• Do not immerse in water

• Do not expose to fire

• Do not disassemble the device

• Do not connect the power supply privately

• Do not extend the network cable without authorization

• Do not use the camera in humid environments, environments with condensation, or high-dust environments

• Do not use the camera in environments with strong magnetic fields or high-voltage discharge equipment (such as electric welders)

• Avoid external impact or drops. If this occurs, contact staff for inspection and repair

• Keep away from equipment such as laser marking machines and engraving machines that may damage the camera. If such equipment must be used, contact company personnel for confirmation

• Do not use beyond the specified range. Operating distance: XEMA-P:100-150mm；XEMA-DCW:0.3-0.5m;XEMA-SCW:0.5-1m;XEMA-LCW:1-2.5m;SPARROW:0.3-0.5m;FINCH:1.5-3.5m：For special customization, communicate requirements with the camera team in advance

• Use the camera strictly within the allowable high- and low-temperature range specified in the product specification.

3. Specifications

Parameter	Model	XEMA-P-1203	XEMA-DCW-1601	XEMA-SCW-902	XEMA-LC-1901	XEMA-LCW-1902
Hardware Parameters	Field of View (H/V)	35°/26°	58°/33°	58°/35°	38°/23°	50°/33°
	Dimensions (mm)	126*146*×61	119*127*58	207*128×46	433*133*51	433*133*45
	Weight (kg)	1.1	0.8	1.3	1.9	1.8
	Baseline Length (mm)	70	80	145	350	350
	Resolution	2448*2048	1920*1200	1920*1200	1920×1200	1920×1200
	Interface Type	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet
	Computing Unit	NVIDIA Jexson Nano	NVIDIA Jexson Nano	NVIDIA Jexson Nano	NVIDIA Jexson Nano	NVIDIA Jexson Nano
	Rated Voltage	DC 24V 3.2A	DC 24V 3.2A	DC 24V 3.2A	DC 24V 3.2A	DC 24V 3.2A
Technical Parameters	Near-end Field of View (mm)	56*39	287*171	488*296	685*405	965*569
	Far-end Field of View (mm)	86*61	523×286	1021*593	1702*1039	2462*1453
	Recommended Working Distance (mm)	100~150	300~500	500~1000	1000~2500	1000~2500
	Z-axis Accuracy	6μm@0.1m	0.03mm@0.4m	0.05mm@0.8m	0.5mm@2.5m	0.5mm@2.5m
	Z-axis Repeatability σ(μm)	1@0.1m-0.15m	21@0.3m-0.5m	41@0.5m-1m	80μm@1m-2.5m	80@1m-2.5m
	Pixel Interval	22μm@0.1m 33μm@0.15m	0.16mm@0.3m 0.27mm@0.5	0.27mm@0.5m 0.55mm@1.0m	0.36mm@1m 0.9mm@2.5m	0.55mm@1.0m 1.37mm@2.5m
	Typical Capture Time	1.0-2.0s	0.5-1.5s	0.5-1.5s	0.5-1.5s	0.5-1.5s
	Output Data	Point Cloud, Depth Map, Grayscale Image	Point Cloud, Depth Map, Color Image	Point Cloud, Depth Map, Color Image	Point Cloud, Depth Map, Color Image	Point Cloud, Depth Map, Color Image
	Supported Operating Systems	Windows, Linux (Ubuntu20.04)	Windows, Linux (Ubuntu20.04)	Windows, Linux (Ubuntu20.04)	Windows, Linux (Ubuntu20.04)	Windows, Linux (Ubuntu20.04)
	SDK Interface	C/C++/C#/Python	C/C++/C#/Python	C/C++/C#/Python	C/C++/C#/Python	C/C++/C#/Python

4. Installation and Connection

4.1 Unboxing Inspection

4.2 Hardware Installation

There are two installation methods. One is direct communication through a network cable (use a network cable to connect the Camera and the Vision system industrial PC (Industrial Personal Computer)), and the other is interaction through a router or switch (connect one end of the network cable to the router and the other end to the Camera).

• Connect through a router/switch

• Direct communication through a network cable

When there is no DHCP server on the network (that is, the camera is directly connected to the computer), the camera's DHCP mechanism will attempt to obtain an IP for 30 seconds. If it still fails, it switches to the AVAHI mechanism to negotiate an IP, and the negotiated IP will be in the 169.254.x.x range.

• Connect the Power Supply to the Camera and turn it on

Before powering on the Camera, first confirm that the Power Supply cable and network cable are securely connected. After the power is turned on, the "Power" Indicator Light remains on. The Camera starts up in about 30 seconds. At this time, the green Indicator Light on the network port remains on and the orange Indicator Light flashes, indicating gigabit network bandwidth. The Camera's "Act" Indicator Light turns on during image capture and data transmission and remains off at other times.

4.3 Connect the Camera

Before connecting the Camera, download and install DexSense. Please follow the DexSense Installation Guide to download and install DexSense

• Open DexSense and search for the connection directly in the DexSense interface

• Use a network cable to connect the Camera and the Vision system industrial PC (Industrial Personal Computer), turn on the Camera Power Supply, and then click the Camera panel on the main interface to open the Camera interface

• On the camera interface, select the camera brand to connect. Options include XEMA, FINCH, SPARROW, KINGFISHER, and KINGFISHER-R. Then click Search for cameras of the current brand or cameras previously connected, and connect to the camera with the corresponding IP address.

You can also directly enter the camera's IP address and then click the Connect Camera button.

• After the camera is connected successfully, select a camera for the current task on the Task Information interface. After selecting the camera, the camera connection status in the status bar changes to "Connected", as shown below.

5. Camera Configuration

• Each Camera has multiple default configurations, and none of the default configurations can be changed. Select the corresponding default configuration, click Trigger Capture, and use the imaging Parameters to capture a 2D image, Point Cloud, and Depth Map. You can view the imaging quality in the visualization window on the left.

• The Camera's default configurations cannot be changed. If the 2D images captured by all default configurations cannot achieve normal exposure, click + to copy the current default Camera configuration, add an identical Camera configuration, and directly enter the Camera configuration interface to modify the Parameters.

After copying the current default Camera configuration, you can switch to the newly added Camera configuration and click the settings button to enter the Camera configuration interface and modify the Parameters.

Click — to delete the newly added camera configuration.

• Click Save Image to save the 2D image, Point Cloud, and Depth Map captured with the current configuration to the local machine, as shown below. The save Path is 项目文件夹/config/camera/image/拍摄时间. Files with the bmp suffix are 2D images, files with the ply suffix are Point Clouds, and files with the tiff suffix are Depth Maps.

• Click View Intrinsics to view the Camera Intrinsic Parameter, including lens focal length, principal point coordinates, distortion coefficients, and other information.

• Click Disconnect to disconnect the Camera and select a Camera to reconnect.

5.1 Import Camera Configuration

Enter the Camera configuration interface and click Import Camera Configuration to import an existing Camera configuration into the Camera.

5.2 Functional Operations

The camera configuration interface provides the following operations:

• Show Overexposed Areas

After enabling Show Overexposed Areas, the visualization window will display the overexposed areas of the current image, as shown below.

• Trigger Capture

Click Trigger Capture to capture a 2D image, Point Cloud, and Depth Map using the current camera configuration. You can view the imaging quality of the current camera configuration in the visualization window.

• Continuous Acquisition

Click Continuous Acquisition, and the camera will keep taking pictures continuously. Click Stop Acquisition to stop.

• Save Image

Click Save Image to save the captured 2D image, Point Cloud, and Depth Map.

• Camera Accuracy

Click Camera Accuracy to view and verify the camera accuracy.

5.3 Camera Accuracy

5.3.1 View Camera Accuracy

• Place the Calibration Board within the camera's field of view. In the camera configuration interface, click Camera Accuracy to open the camera accuracy interface, as shown below

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a warning dialog saying "Please check the Calibration Board type" will pop up, as shown below. The warning appears when the Calibration Board type is A3

• After selecting the correct Calibration Board type, click View Camera Accuracy. PickWiz will automatically calculate the current camera accuracy. If the camera accuracy meets the requirement, only adjust the camera imaging parameters; if the camera accuracy is too large, a prompt saying "The error is too large. Camera accuracy calibration is recommended" will pop up.

Camera accuracy below Xmm for each series indicates that the accuracy meets the requirement

XEMA-D:0.2mm

XEMA-S:0.2mm

XEMA-L:0.5mm

5.3.2 Calibrate Camera Accuracy

During actual Camera use, and after Extrinsic Parameter calibration, the current Camera Accuracy must be verified to determine whether it meets the requirements.

When viewing Camera Accuracy, if the Camera Accuracy error is abnormal, Camera Accuracy should be calibrated;

If the Point Cloud captured by the current Camera shows large fluctuations, Camera Accuracy should be calibrated

Before calibrating Camera Accuracy, enable Show Overexposed Areas to check the Camera imaging exposure level. If there are overexposed areas, adjust the exposure time for single exposure to ensure normal Camera imaging exposure.

After calibration is complete, switch the Camera imaging Parameters back to the original configuration

• In the Camera configuration interface, click Camera Accuracy

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a warning dialog saying "Please check the Calibration Board type" will pop up, as shown below. The warning appears when the Calibration Board type is A3

• After selecting the correct Calibration Board type, click Calibrate Camera Accuracy

• Place the Calibration Board horizontally at the center of the Camera field of view, then click Add Sample. The Camera starts sampling and validating the sample. If the collected sample passes validation, it will be added below Collected Samples, as shown below

Click Sample x to view the collected sample. The centers of all concentric circles on the Calibration Board in a validated sample turn green

• Move the Calibration Board to the four corners within the camera's field of view and add samples

At each corner, prop up the Calibration Board at an angle. The placement angle of the Calibration Board should be 15-30°; the tilt angle should be neither too large nor too small

• After adding 5 samples, click Calculate Calibration Results

• After calibration is complete, a prompt saying "Camera accuracy calibration is complete. The calibrated accuracy is x, the error is normal. Do you want to overwrite the current camera Parameter configuration?" will pop up

If you choose to overwrite the current Camera Parameter configuration, the Camera Accuracy calibration result will be updated to the Camera, and the Camera must be restarted for it to take effect

6. camera imaging quality adjustment

6.1 Required Parameters

6.1.1 Engine Mode

Engine modes include Normal, Highly Reflective, and Black. Highly Reflective mode is highly effective for highly reflective workpieces, Black mode is highly effective for black workpieces, and Normal mode is suitable for ordinary workpieces.

Engine Mode	Description
Normal	Suitable for general workpieces
Highly Reflective	Suitable for highly reflective workpieces
Black	Suitable for black workpieces

6.1.2 Exposure Type

（1）Single Exposure

Single exposure can be used for workpieces with ordinary textures

（2）High Dynamic Range：

For highly reflective workpieces, the HDR function can be used for Point Cloud fusion

The High Dynamic setting for the exposure type should be used together with the High Dynamic setting for the Engine Mode

High Dynamic Range Imaging (HDRI, or HDR for short) is a set of techniques used to achieve a wider exposure dynamic range (that is, greater differences between light and dark) than ordinary digital imaging technology.

High dynamic range makes image layers more distinct and the contrast between light and dark more obvious, especially when processing reflective workpieces.

Parameter adjustment recommendation:

• When using high dynamic range, you can choose the number of high dynamic exposures according to the specific scene and workpiece, with a value range of 2~6 and a default of 2. If the 3D Point Cloud quality and 2D image quality are poor, increase the number of groups so that the object is exposed multiple times to achieve the best imaging quality.

It is recommended to use fewer high dynamic exposures while meeting Point Cloud quality requirements.

（3）Repeated Exposure: This is the number of times the Camera repeats image capture. Its purpose is to improve the signal-to-noise ratio (the ratio of signal to noise). The higher the signal-to-noise ratio, the better, because random noise is suppressed and useful information is increased. The value range is 0~10.

Repeated exposure can be used for black objects to optimize the Point Cloud through multiple exposures

6.1.3 Exposure Time

Camera exposure time: Exposure time is the amount of time that the shutter remains open while reflected light from the scene passes through the lens and reaches the imaging photosensitive material. The longer the exposure time, the more light enters. If the exposure time is too long, overexposure will occur, which affects the Point Cloud, so adjust it according to actual conditions

Range: 1700-100000

Exposure Time and Projection Brightness form one group. Each high dynamic exposure count corresponds to one group. Set appropriate Exposure Time and Projection Brightness values for each group.

Exposure Time: Exposure Time is the duration for which light enters the Camera while the shutter is open. The longer the Exposure Time, the more light enters and the clearer the image.

If the Exposure Time is too long, overexposure will occur. You can enable the overexposed area display; the red areas indicate overexposed regions.

6.1.4 Projection Brightness

Projection Brightness refers to the intensity of the projected light. The greater the light intensity, the brighter and clearer the image. Within a certain range, the human eye may perceive the image as clearer because of the higher brightness. If this limit is exceeded, excessive brightness will make the image unclear.

Range: 0-1023

The larger this value, the greater the Projection Brightness, which can effectively improve the signal-to-noise ratio. It is recommended to use the maximum value. Only consider reducing this value if the Exposure Time has been adjusted to the minimum and overexposure still occurs

Note: It is recommended to set the brightness to 1023

6.1.5 Gain

Adjusts the brightness of the image.

Range: 0-24

The gain value of the 2D Camera can be adjusted and should be increased appropriately. As the gain increases, noise also increases

6.1.6 Smoothing

Range:0-5

Performs smoothing on the Point Cloud

6.1.7 Confidence

Confidence indicates the level of reliability and is used for an initial screening of the Point Cloud. Generally, 2-5 is sufficient, and users can adjust it according to site conditions

Lowering the Confidence preserves more black regions in the Depth Map; conversely, increasing the Confidence removes black noise in the Depth Map.

Range: 0-100

6.1.8 Noise Filtering

In machine vision application scenarios, when inspecting objects such as metal surfaces, aluminum foil surfaces, reflective films, and smooth surfaces, specular reflection may cause excessively strong local reflected light, resulting in the loss of the object's original information and interfering with machine vision inspection. Noise Filtering can remove the generated noise while preserving the original information of the object.

Range: 0-100

When recognizing objects such as metal surfaces, aluminum foil surfaces, reflective films, and smooth surfaces, specular reflection may cause excessively strong local reflected light, resulting in the loss of the object's original information and interfering with PickWiz recognition and image inspection. Increasing the Noise Filtering value can remove the generated noise while preserving the original information of the object.

6.2 Optional Parameters

6.2.1 Radius Filtering

For each point in the Point Cloud, define a sphere with radius r and count the number of valid points within it. If the number of points inside is less than the valid-point threshold, it is considered a noise point and removed. The smaller the radius and the larger the valid-point threshold, the more obvious the filtering effect

Radius range: 0-99

Valid point range: 0-99

6.2.2 Depth Filtering

Filters floating noise points in the Z-axis direction. The larger the threshold, the more obvious the filtering effect. For filtering methods based on the Depth Map, a threshold of 33 is recommended at a distance of 1000mm.

Range: 0-100

6.2.3 Reflection Filtering

Filters vertical-surface noise caused by mutual reflection of metals. The larger the threshold, the more obvious the filtering effect

Range: 0-100

6.2.4 Phase Correction

Phase correction, that is, Point Cloud grayscale compensation, is a method for correcting grayscale information in 3D Point Cloud data. The purpose of Point Cloud grayscale compensation is to eliminate these grayscale value differences and convert the grayscale information in the Point Cloud into values corresponding to the actual surface reflectance of the object. The larger the threshold, the more obvious the correction

Range: 0-100

Usage: First place the Calibration Board and use the plane of the Calibration Board as the reference plane, as shown above.

As described in the Maximum Height and Minimum Height section, set the maximum height to 1 and the minimum height to -1 so that only the Calibration Board is displayed, as shown above.

With phase correction disabled, the Calibration Board is shown above. On the actual Calibration Board, the entire board is flat, and there is no vertical fluctuation between the circular and non-circular areas, but the actual captured result shows fluctuations in the circular areas.

After enabling phase correction, if the Calibration Board shows almost no color difference or the difference is not obvious, the correction is successful.

6.2.5 2D Image Overlay Exposure

This function can separately override the original 2D image after the Point Cloud is obtained. Sometimes the Point Cloud is good but the 2D image is too dark or overexposed and does not meet the requirements. In this case, you can enable 2D Image Overlay Exposure to override the original 2D image.

If illuminated is selected, you can manually set the Exposure Time, gain, and capture method (Single Exposure or High Dynamic Range).

If non-illuminated is selected, it refers to ambient light brightness. You can also manually set the Exposure Time, gain, and capture method (Single Exposure or High Dynamic Range).

Overlay Gain

When using the 2D Image Overlay Exposure function, you can adjust this gain to make the image brighter

Overlay Exposure Time

When using the 2D Image Overlay Exposure function, you can adjust this Exposure Time to make the image brighter

7. Typical Cases

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