Development of high-peak power laser system encounters difficulties in producing the pulses with high temporal contrast. To increase the pulse temporal contrast ratio, a nonlinear filter based on crossed-polarized wave (XPW) generation is proposed. The XPW generation relies on a third-order nonlinear process occurring in a nonlinear medium, such as barium fluorite (BaF2) crystal. The XPW process is quite straightforward:a linearly polarized laser pulse is focused on BaF2 crystal positioned between two orthogonally polarizers, high power main pulses due to nonlinear polarization rotation can pass through the second polarizer, while low power unconverted pre-and post-pulses are filtered by the second polarizer. With the XPW technique, pulse contrast can be enhanced by several orders of magnitude. Furthermore, XPW spectrum can be broaden by a factor with respect to the initial spectrum. This efficient pulse cleaner presents many advantages and has proved to be a simple and reliable pulse filter operating in a double chirped pulse amplification system. Most of previous XPW experiments utilize short focal systems or work off focus due to an intensity limit in the crystal (BaF2). These drawbacks result in a lower conversion efficiency (lower than 10%) when using a single crystal. Dual crystal setup is capable of achieving efficiency more than 20%, yet the configuration restricts the crystal separation to a millimeter level. The use of long focus lens in the XPW device is capable of reaching higher efficiency, with BaF2 crystal positioned in the focal plane. Hence for milljoule pulses, the setup distance increases to tens of meters, resulting in a complicated system and cumbersome configuration. Considering these limitations, a compact, highly efficient and stable XPW generation using dual-lens system suitable for non-vacuum transmission is presented. The measured nonlinear accumulated phase shows little deterioration of pulse quality. With a compact dual lens system, we realize an excellent XPW conversion of above 22% (internal efficiency of 30%) with using double BaF2 crystals, while a femtosecond laser pulse can experience a spectrum broadening up to a factor of 1.78. The dual-lens configuration overcomes the crystal separation limit, and conversion efficiency exceeds 20% for a crystal separation from 13 cm to 22 cm, which is conducible to flexibility and robustness. The stability for the setup to generate shorter pulses with very high contrast or compensate for spectral gain narrowing in the preamplifier is ensured due to the dual-lens focusing system.