1. Product introduction

XEMA series Camera is a structured light 3D camera based on DLP projection. The core components use TI DLP3010 projection chip, Sony IMX392 imaging chip and Nvidia Jetson Nano computing module. Data transmission uses GigE interface, supporting multiple exposure modes. Highly reflective targets, small sheet metal parts, chain rail sections, and black bars are suitable for 3D scanning and industrial 3D defect detection. They can be used with industrial robots in scenes such as industrial disordered grabbing and loading and unloading.

Camera is CE/FCC/RoHS certified

2. Safety instructions

Please read the safety instructions carefully and operate in strict accordance with the following specifications. Otherwise, the Camera will be seriously damaged. Dexforce is not responsible for the resulting maintenance problems.

• Blisters are strictly prohibited

• Burning is strictly prohibited

• Disassembly is strictly prohibited

• It is strictly prohibited to connect the power supply privately

• It is strictly prohibited to extend the network cable without permission

• It is strictly prohibited to use the Camera in humid, condensation or dusty environments.

• It is strictly prohibited to use the Camera in environments with strong magnetic fields and high-voltage discharge equipment (such as electric welding machines).

• It is strictly prohibited to hit or beat with external force. If this happens, please contact the staff for maintenance.

• Stay away from laser marking machines, laser engraving machines and other equipment that may cause damage to the Camera. If you must use it, please contact company personnel for confirmation.

• It is strictly prohibited to use it beyond the distance. Use distance: XEMA-P: 100-150mm; XEMA-DCW: 0.3-0.5m; A-LCW: 1-2.5m; SPARROW: 0.3-0.5m; FINCH:

• Use the Camera strictly in accordance with the product specifications and within the allowable high and low temperature range.

3. Specification Parameter

Parameter	Model	XEMA-P-1203	XEMA-DCW-1601	XEMA-SCW-902	XEMA-LC-1901	XEMA-LCW-1902
Hardware Parameter	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
Technology Parameter	Near-end site (mm)	56*39	287*171	488*296	685*405	965*569
	Remote site (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 repetition accuracyσ(μm)	1@0.1m-0.15m	21@0.3m-0.5m	41@0.5m-1m	80μm@1m-2.5m	80@1m-2.5m
	Pixel pitch	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 acquisition 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 image, Depth image, grayscale image	Point Cloud image, Depth image, color image	Point Cloud image, Depth image, color image	Point Cloud image, Depth image, color image	Point Cloud image, Depth image, color image
	operating system supports	Microsoft, Linux operating system (Ubuntu20.04)	Microsoft, Linux operating system (Ubuntu20.04)	Microsoft, Linux operating system (Ubuntu20.04)	Microsoft, Linux operating system (Ubuntu20.04)	Microsoft, Linux operating system (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 Unpacking inspection

4.2 Hardware installation

There are two installation methods, one is to communicate directly through a network cable (use a network cable to connect the Camera and the industrial computer), and the other is to interact through a router or switch (one end of the network cable is connected to the router and the other end is connected to the Camera).

• Connect via router/switch

• Direct communication via network cable

When there is no DHCP server in the network (that is, the Camera is directly connected to the computer), the Camera's DHCP mechanism still fails to obtain an IP after trying for 30 seconds, so it switches to the AVAHI mechanism to negotiate the IP, and the negotiated IP is in the 169.254.x.x network segment.

• Connect the power supply to the Camera and turn on the power

Before powering on the Camera, first make sure that the power cord and the network cable are securely connected. After the power is turned on, the "Power" indicator light is always on, and the Camera starts up in about 30 seconds. At this time, the green indicator light of the Camera's network port is always on and the orange indicator light flashes, indicating that the network bandwidth is Gigabit. The "Act" working indicator light of the Camera lights up when taking pictures and transmitting data, and is normally off.

4.3 Connect Camera

Before connecting to the Camera, you should download and install the DexSense software. Please follow the [DexSense Installation Guide] (https://dexforce.feishu.cn/wiki/ETaWwwNyTiGSAYkw7gGcrI0tnkh?fromScene=spaceOverview) to download and install DexSense.

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

• Use a network cable to connect the Camera and the industrial computer, turn on the Camera power, then click the Camera panel on the main interface to open the Camera interface

• On the Camera interface, select the Camera brand you want to connect to. You can choose from XEMA, FINCH, SPARROW, KINGFISHER, or KINGFISHER-R. Then click Search for the current brand Camera or a previously connected Camera to connect to the Camera with the corresponding IP address.

You can also directly enter the IP address of the Camera and click the Connect Camera button.

• After the Camera is successfully connected, you should select Camera for the current Task in the Task Information interface. After selecting Camera, the Camera connection status in the status bar changes to "Connected", as shown in the figure below.

5. Camera configuration

• Each Camera has multiple default configurations, and all default configurations cannot be changed. Select the corresponding default configuration, click "Trigger photo", use the imaging parameter to capture 2D images, Point Cloud images, and Depth images. You can check the imaging quality in the visualization window on the left.

• The default camera configuration cannot be changed. If all 2D images taken with the default configuration cannot achieve normal exposure, you can click + to copy the current Camera default configuration, add an identical Camera configuration, and directly enter the Camera configuration interface to modify Parameter.

After copying the current Camera default configuration, you can switch to the new Camera configuration, click the Settings button , and enter the Camera configuration interface to modify Parameter.

Click — to delete the newly added Camera configuration.

• Click Save Image to save the 2D image, Point Cloud image, and Depth image taken using the current configuration to the local machine, as shown in the figure below. The saving path is the project folder/config/camera/image/shooting time. The suffix is ​​bmp for the 2D image, the suffix for the ply is for the Point Cloud image, and the suffix for the tiff is for the Depth image.

• Click View Intrinsic Parameter to view CameraIntrinsic Parameter, including lens focal length, principal point coordinates, distortion coefficient, etc.

• Click Disconnect to disconnect the Camera and re-select the Camera connection.

5.1 Import Camera configuration

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

5.2 function operation

The Camera configuration interface has the following functions:

• Show overexposed areas

After turning on Show overexposure area, the visualization window will display the overexposure area of ​​the current image, as shown in the figure below.

• Trigger photo

Click Trigger Photography to shoot 2D images, Point Cloud images, and Depth images using the current Camera configuration. You can check the imaging quality of the current Camera configuration in the visualization window.

• Continuous collection

Click Continuous Acquisition and the Camera will take pictures continuously. Click Cancel Acquisition to stop taking pictures.

• save image

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

• Camera accuracy

Click Camera Accuracy to view and verify Camera accuracy

5.3 Camera accuracy

5.3.1 View Camera accuracy

• Place the Calibration Board within the Camera's field of view, click Camera Accuracy in the Camera configuration interface, and the Camera Accuracy interface will appear, as shown in the figure below

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a pop-up warning "Please check the Calibration Board type" will pop up, as shown in the figure below. If the Calibration Board type is A3, a pop-up warning will pop up.

• After selecting the correct Calibration Board type, click View Camera Accuracy, and PickWiz will automatically calculate the Camera accuracy of the current Camera. If the Camera accuracy meets the requirements, directly adjust the Camera imaging Parameter; if the Camera accuracy is too large, a prompt box will pop up saying "The error is too large, it is recommended to correct the Camera accuracy."

Camera accuracy of each series of cameras<Xmm indicates that the accuracy meets the requirements

XEMA-D:0.2mm

XEMA-S:0.2mm

XEMA-L:0.5mm

5.3.2 Calibrate Camera accuracy

During the actual use of the Camera and after the Extrinsic Parameter is corrected, it is necessary to verify whether the accuracy of the current Camera meets the requirements.

Check the Camera accuracy. If the Camera accuracy error is abnormal, the Camera accuracy should be corrected;

The current Point Cloud captured by the Camera fluctuates greatly, and the Camera accuracy should be corrected.

Before correcting the camera accuracy, you should turn on `Show overexposure area' to check the exposure level of the Camera imaging. If there is an overexposed area, adjust the exposure time of the single exposure to ensure that the Camera imaging exposure is normal.

After the correction is completed, the Camera imaging Parameter should be switched back to its original configuration.

• Click Camera Precision in the Camera configuration interface

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a pop-up warning "Please check the Calibration Board type" will pop up, as shown in the figure below. If the Calibration Board type is A3, a pop-up warning will pop up.

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

• Place the Calibration Board horizontally in the center of the Camera's field of view, click "Add Sample", and the Camera will start sampling and verifying the sample. If the collected sample passes the verification, it will be added under "Collect Sample", as shown in the figure below

Click Sample x to view the collected samples. The centers of all concentric circles on the Calibration Board of samples that pass the verification turn green.

• Move the Calibration Board to the 4 corners within the Camera's field of view to add new samples

Place the Calibration Board at an angle at each corner. Place the Calibration Board at an angle of 15-30°. The tilt angle should not be too large or too small.

• After adding 5 samples, click Calculate Correction Results

• After the correction is completed, a prompt box will pop up "Camera accuracy correction is completed. The correction accuracy is x and the error is normal. Do you want to overwrite the current CameraParameter configuration?"

If you choose to overwrite the current CameraParameter configuration, the Camera accuracy correction results will be updated to the Camera, and you need to restart the Camera to take effect.

6. Camera parameter adjustment

6.1 Required Parameter

6.1.1 engine mode

The engine modes include normal, high-reflective and black modes. The high-reflective mode is excellent for high-reflective parts, the black mode is excellent for black targets, and the normal mode can deal with ordinary targets.

Engine Mode	Description
General	Applies to general Target
Highly reflective	Suitable for highly reflective Target
Black	Available for Black Target

6.1.2 exposure type

(1) Single exposure

For ordinary texture Target, you can use single exposure

(2) High dynamics:

For highly reflective targets, you can use the HDR function for Point Cloud fusion.

Exposure type High Dynamics should be used in conjunction with Engine mode High Dynamics

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

High dynamic makes the image more distinct and the difference between light and dark obvious (especially when facing reflective targets).

Parameter adjustment suggestions:

• When using high dynamics, you can select the number of high dynamic exposures based on the specific Scene and Target. The value range is 2~6, and the default is 2. If the 3DPoint Cloud quality and 2D image quality are poor, the number of groups should be increased to expose the object multiple times to achieve the best imaging quality.

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

(3) Repeated exposure: The number of times the Camera needs to repeat shooting. The function is to improve the signal-to-noise ratio (the ratio of signal to noise). The higher the signal-to-noise ratio, the better. In this way, random noise will be suppressed and effective information will be increased. The value range is 0~10.

For black objects, you can use repeated exposure to optimize the Point Cloud through multiple exposures.

6.1.3 exposure time

Camera exposure time: Exposure time is the time it takes for the reflected light from the scene to reach the imaging photosensitive material through the lens and the shutter to open. The longer the exposure time, the more light comes in. If the exposure time is too long, overexposure will occur, which will affect the Point Cloud. The size should be adjusted based on the actual situation.

Range: 1700-100000

Exposure time and projection brightness are one group, and the number of high dynamic exposures is one group. Set the appropriate exposure time and projection brightness value for each group.

**Exposure time: **Exposure time is the time for light to enter the Camera when the Camera 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 turn on the display of the overexposure area. The red part is the overexposure area.

6.1.4 projection brightness

Projection brightness refers to the intensity of the projection light. The greater the light intensity, the brighter and clearer the image. Within a certain range, the human eye will feel that the image is clearer because of the high brightness. If it exceeds this limit, excessive brightness will make it impossible to see the image clearly.

Range: 0-1023

The larger the value, the brighter the projection, which can effectively improve the signal-to-noise ratio. It is recommended to use the maximum value. If the exposure time is still overexposed after adjusting it to the minimum, consider reducing the value.

Note: It is recommended to adjust the brightness to 1023

6.1.5 gain

Adjust the brightness of the picture.

Range: 0-24

The gain value of 2DCamera can be adjusted and should be increased appropriately. As the gain increases, the noise will increase accordingly.

6.1.6 smooth

Range:0-5

Smooth operations on Point Cloud

6.1.7 Confidence

Confidence indicates the degree of trustworthiness. Point Cloud will be screened initially, usually 2-5, and customers can adjust it on site.

When Confidence is lowered, more of the black part in the Depth image is retained; conversely, when Confidence is raised, the black noise in the Depth image will be removed.

Range: 0-100

6.1.8 noise filter

In the machine vision application scene, such as detecting metal, aluminum foil surfaces, reflective films, and smooth surface items, specular reflection will cause excessive local reflected light, thereby losing the original information of the object and interfering with machine vision detection. Noise filtering can partially eliminate the generated noise and preserve the original information of the object.

Range 0-100

When identifying items on metal, aluminum foil surfaces, reflective films, and smooth surfaces, specular reflection will cause excessive local reflected light, thereby losing the original information of the object and interfering with Pickwiz recognition and detection of images. Increasing the noise filter value can partially eliminate the generated noise and preserve the original information of the object.

6.2 Optional Parameter

6.2.1 radius filter

For each point in the Point Cloud, determine a sphere with a radius r and select the number of effective points. If the number of internal points is less than the effective points, it will be considered a noise point and will be eliminated. The smaller the radius and the larger the number of effective points, the more obvious the filtering effect will be.

Radius range: 0-99

Valid point range: 0-99

6.2.2 depth filter

For filtering suspended noise in the Z-axis direction, the larger the threshold, the more obvious the filtering effect. Based on the Depth image filtering method, the Threshold is recommended to be 33 at a distance of 1000mm.

Range: 0-100

6.2.3 reflection filter

Filter the facade noise caused by metal mutual reflection. The larger the threshold, the more obvious the filtering effect will be.

Range: 0-100

6.2.4 phase correction

Phase correction, namely Point Cloud grayscale compensation, is a method of correcting grayscale information in three-dimensional Point Cloud data. The purpose of Point Cloud grayscale compensation is to eliminate these grayscale value differences and convert the grayscale information in Point Cloud into a value corresponding to the reflectivity of the actual object surface. The larger the threshold, the more obvious the correction.

Range: 0-100

Instructions for use: First place the Calibration Board, using the plane of the Calibration Board as the reference plane. As shown in the picture above.

As introduced in the Maximum Height and Minimum Height section, adjust the maximum height to 1, adjust the minimum height to -1, and only display the Calibration Board part, as shown in the figure above.

When phase correction is not turned on, the Calibration Board is as shown in the picture above. In the actual Calibration Board, the entire Calibration Board is flat, and there are no up and down fluctuations in the circular and non-circular parts. However, the actual photographed effect is that of a circle with undulations.

After turning on the phase correction, it is found that there is basically no color difference or the difference is not obvious on the Calibration Board, indicating that the correction is successful.

6.2.5 2D image overlay exposure

This function can separately cover the initial 2D image after obtaining the Point Cloud; sometimes the Point Cloud is good, but the 2D image is too dark and overexposure, which does not meet the requirements. At this time, the 2D overlay exposure can be turned on to cover the original 2D image.

If you choose Luminous, you can set the exposure time, gain, and shooting method (single exposure or high dynamic).

If you choose not to emit light, it depends on the light brightness in the environment. You can also set the exposure time, gain, and shooting method (single exposure or high dynamic) by yourself.

stack gain

When using the 2D stacked exposure function, you can adjust this gain to make the picture brighter.

Overlay exposure time

When using the 2D overlay exposure function, you can adjust this exposure time to make the picture brighter.

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