1

Matrix methods in paraxial optics

(analytical ray tracing and ABCD laws)
Textbook (Hecht), 6.2
2
Complex optical system
Camera Lens
3
Matrices in paraxial Optics
Translation Translation
(in homogeneous medium) (in homogeneous medium)

0 0
L L
y y
o o
y y
( ) ( )
( ) ( )
o o
o o
y
L y y

1 0
1
+ =
+ =
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
y L y
1 0
1

4
Matrices in paraxial Optics
Translation Translation
(in homogeneous medium) (in homogeneous medium)

0 0
L L
y y
o o
y y
( ) ( )
( ) ( )
o o
o o
y
L y y

1 0
1
+ =
+ =
|
|

\
|
=
1 0
1 L
T

5
Matrix methods in paraxial optics
Refraction at a spherical interface Refraction at a spherical interface

y=y y=y


n n n n

) ' ( ' ) (
' '


= +
=
n n
n n
+

'
'
'
'
n
n n
n
n

+ =


' '
'
'
n
n
n
y
R
n n
+

=
= +
y/R
6
Matrix methods in paraxial optics
Refraction at a spherical interface Refraction at a spherical interface

y y



n n n n

' ' ' '
'
'
n
n
y
n
P
n
n
n
y
R
n n
+ = +

=
0 ' + = y y
|
|

\
|
|
|

\
|

=
|
|

\
|

y
n
n
n
P
y
' '
0 1
'
'

7
Matrix methods in paraxial optics
Refraction at a spherical interface Refraction at a spherical interface

y y



n n n n
|
|

\
|

=
' '
0 1
n
n
n
P
R


' ' ' '
'
'
n
n
y
n
P
n
n
n
y
R
n n
+ = +

=
0 ' + = y y
8
Matrix methods in paraxial optics
Refraction at a spherical interface Refraction at a spherical interface

y y




n n n n

' ' ' '
'
'
n
n
y
n
P
n
n
n
y
R
n n
+ = +

=
0 ' + =y y
|
|

\
|

=
' '
0 1
n
n
n
P

= + <
9
Matrix methods in paraxial optics
1

Lens matrix Lens matrix

n n
n n
L L
n n
T
|
|

\
|

=
L L
n
n
n
P
1
1
0 1
|
|

\
|

=
' '
0 1
2
2
n
n
n
P
L
|
|

\
|
=
1 0
1 d
T
For the complete system For the complete system
1 2
= T L
Note order Note order matrices matrices do not do not, in general, commute. , in general, commute.
10
Matrix methods in paraxial optics
2
2
1
1
'
R
n n
P
R
n n
P
L
L

=
|
|
|
|
|

\
|
|
|

\
|

= =
L
L L
n
P
d
n
n
n
P
n
n
d
n
P
d
T L
2
1
1 2
1
' '
1
L
n
P P
d P P P where
2 1
2 1
, + =
Thick lens matrix Thick lens matrix
11
Matrix methods in paraxial optics
1

|
|
|
|
|

\
|
|
|

\
|

= =
L
L L
n
P
d
n
n
n
P
n
n
d
n
P
d
T L
2
1
1 2
1
' '
1
Lens matrix Lens matrix
n n
n n
L L
n n
T
L
n
P P
d P P P
2 1
2 1
+ =
2
2
1
1
'
R
n n
P
R
n n
P
L
L

=
'
det
n
n
L=
12
Thin lens matrix
|
|
|
|
|

\
|
|
|

\
|

= =
L
L L
n
P
d
n
n
n
P
n
n
d
n
P
d
T L
2
1
1 2
1
' '
1
Recall that for a thick lens Recall that for a thick lens
For a thin lens, d=0 For a thin lens, d=0

|
|

\
|

=
' '
0 1
n
n
n
P
L
13
Thin lens matrix
L
n
P P
d P P P
2 1
2 1
+ =
'
' '
2 1
2 1
f
n
f
n
R
n n
R
n n
P P P
L L
= =

= + =
Recall that for a thick lens Recall that for a thick lens
For a thin lens, d=0 For a thin lens, d=0

In air, n=n In air, n=n =1 =1
( )
|
|

\
|
=

= = =
2 1 2 1
1 1
1
1 1
'
1 1
R R
n
R
n
R
n
f f
P
L
L L
|
|

\
|

=
1
1
0 1
f
L
14
Reflection Matrix
( ) ( )
( )
:
2
1 0
2
1
1 0
2
1
y y y
R R R
Law of Reflection
y y
y
R R R
y y
y
R
y y
R

= = = + = + = +

=
= + = + = +
= +
| |
= +
|
\
(

( (
(
=
( (
(


Reflection of a ray at a spherical surface.
The inset illustrate the sign conventions.
15
Summary of matrix method
16
Summary of matrix method
1

|
|
|
|
|

\
|
|
|

\
|

= =
L
L L
n
P
d
n
n
n
P
n
n
d
n
P
d
T L
2
1
1 2
1
' '
1
Thick Lens matrix Thick Lens matrix
n n
n n
L L
n n
T
L
n
P P
d P P P
2 1
2 1
+ =
2
2
1
1
'
R
n n
P
R
n n
P
L
L

=
17
Summary of matrix method
18
System Ray-Transfer Matrix
Introduction to
Matrix Methods
in Optics, A.
Gerrard and J.
M. Burch
1
1
y

(
(

2 2
2 2
n
n
y

+
+
(
(

|
|

\
|
=
D C
B A
System (ABCD) matrix System (ABCD) matrix
19
System (ABCD) matrix
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
f
f
y
D C
B A
y

o o f
o o f
D Cy
B Ay y

+ =
+ =
|
|

\
|
o
o
y

|
|

\
|
f
f
y

Input
plane
Output
plane
System Matrix System Matrix
20
Matrix properties
|
|

\
|
=
D C
B A
'
det
n
n
BC AD = =
21
Matrices: General Properties
1
2
3 4
M M M M M =
( ) ( )
1 2 3 4
det det det det det M M M M M =
' '
det
1 2
1
3
2 3
n
n
n
n
n
n
n
n
n
n
M =
|
|

\
|
|
|

\
|
=
For system in air, n=n For system in air, n=n =1 =1
1 det = M
22
System (ABCD) matrix: Special Cases
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
f
f
y
D C
B A
y

o o f
o o f
D Cy
B Ay y

+ =
+ =
23
System matrix: Special Cases
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
f
f
y
D C
B A
y

(a) D = 0 (a) D = 0
f f
= = Cy Cy
o o
(independent of (independent of
o o
) )
y y
o o

f f
Input plane must be the first focal plane Input plane must be the first focal plane
F
|
|

\
|
0 C
B A
o f
o o f
Cy
B Ay y
=
+ =

24
System matrix: Special Cases
(b) A = 0 (b) A = 0 y y
f f
= = B B
o o
(independent of (independent of y y
o o
) )

o o
y y
f f
Output plane must be the second focal plane Output plane must be the second focal plane
F
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
f
f
y
D C
B A
y

|
|

\
|
D C
B 0
o o f
o f
D Cy
B y

+ =
=
25
System matrix: Special Cases
(c) B = 0 (c) B = 0 y y
f f
= Ay = Ay
o o
y y
f f
Input and output plane are conjugate Input and output plane are conjugate A = magnification A = magnification
y y
o o
s
s
|
|

\
|
|
|

\
|
=
|
|

\
|
o
o
f
f
y
D C
B A
y

|
|

\
|
D C
A 0
o o f
o f
D Cy
Ay y
+ =
=
26
System matrix: Special Cases
(d) C = 0 (d) C = 0
f f
= = D D
o o
(independent of (independent of y y
o o
) )
Telescopic system Telescopic system parallel rays in : parallel rays out parallel rays in : parallel rays out

o o

f f
27
Example: Imaging with thin lens in air
|
|

\
|

=
1
1
0 1
f
L

o o

s s s s
y y
o o
y y
Input Input
plane plane
Output Output
plane plane
) ( ) ' ( s T L s T S =
28
Example: Imaging with thin lens in air
) ( ) ' ( s T L s T S =
|
|

\
|
|
|

\
|
|
|

\
|
=
1 0
1
1 0
' 1 s
D C
B A s
S
|
|

\
|
+
+ + + +
=
|
|

\
|
=
D Cs C
Ds Css B As Cs A
D C
B A
S
' ' '
' '
' '
For thin lens: For thin lens: A=1 B=0 D=1 C= A=1 B=0 D=1 C=- -1/f 1/f
y y = = A A y y
o o
+ + B B
o o
29
Example: Imaging with thin lens in air
y y = = A A y y
o o
+ + B B
o o
For imaging, y For imaging, y must be independent of must be independent of
o o
B B = 0 = 0
B B = As + B + = As + B + Css Css + Ds + Ds = 0 = 0
s + 0 + ( s + 0 + (- -1/f)ss 1/f)ss + s + s = 0 = 0
For thin lens: For thin lens: A=1 B=0 D=1 C= A=1 B=0 D=1 C=- -1/f 1/f
f s s
1
'
1 1
= +
30
Examples: Cardinal points of thick Lens
n n n n
f f
n n
y y
o o
y y
H H
h h
x x
F F

h h = = - - ( f ( f - - x x ) )

o o
=0 =0
f f
Find locations of principal planes and effective focal length. Find locations of principal planes and effective focal length.
31
|
|

\
|
|
|

\
|
=
|
|

\
|
0 '
'
o
y
D C
B A y

o
o
y
n
P
f
y
Cy
Ay y
' '
'
'
0
0
= = =
=

Cardinal points of a thick lens

n n n n
f f
n n
y y
o o
y y
h h
x x
F F

h h = = - - ( f ( f - - x x ) )
|
|
|
|
|

\
|
|
|

\
|

=
L
L L
n
P
d
n
n
n
P
n
n
d
n
P
d
L
2
1
1
' '
1
L
n
P P
d P P P
2 1
2 1
+ =
2
2
1
1
'
R
n n
P
R
n n
P
L
L

=
f f
32
|
|

\
|
|
|

\
|
=
|
|

\
|
0 '
'
o
y
D C
B A y

o
o
y
n
P
f
y
Cy
Ay y
' '
'
'
0
0
= = =
=

|
|

\
|
+ = =
L
n
P dP
P P
n f
C
2 1
2 1
'
1
'
1
Cardinal points of a thick lens
n n n n
f f
n n
y y
o o
y y
h h
x x
F F

h h = = - - ( f ( f - - x x ) )
L
n
P dP
P P P
f
n
2 1
2 1
'
'
+ = =
f f
Effective second (back) focal length Effective second (back) focal length
33
o
o
Cy
x
Ay
x
y
= = =
' '
'
'
C
A
x = '
|

\
|
+ = =
C
A
f x f h ' ) ' ' ( '
|

\
|

=
|

\
|
+ =
C
A
C
A
C
h
1 1
'
Cardinal points of a thick lens
n n n n
f f
n n
y y
o o
y y
h h
x x
F F

h h = = - - ( f ( f - - x x ) )
'
1
f
C =
f f
34
Cardinal points of a thick lens
'
1
1
n
P
C
n
P
d A
L
=
=
P
n
n
dP
C
A
h
L
' 1
'
1
=

=
Recall that for a thick lens Recall that for a thick lens
P
P
n
n
d h
L
1
'
' =
As we have found before As we have found before
h can be recovered in a similar h can be recovered in a similar
manner, along with other manner, along with other
cardinal points cardinal points
35
Cardinal Points (Planes) of an Optical System
|
|

\
|
D C
B A
System Matrix:
Distances measured to the right of the respective reference plane are
positive, distances measured to the left are negative. As shown:
p < 0 (ref. IP) q > 0 (ref. OP)
f
1
< 0 (ref. PP
1
) f
2
> 0 (ref. PP
2
)
r > 0 (ref. IP) s < 0 (ref. OP)
v > 0 (ref. IP) w < 0 (ref. OP)
n
o
n
f
References References
36
Cardinal Points (Planes) of an Optical System
Cardinal point locations in terms of system matrix elements
37
Example: thick lens analysis
R
1
= +30 mm R
2
= +45 mm
RP
1
RP
2
V
1
V
2
t = 50 mm
n
L
= 1.8
n
0
= 1.0 n
0
= 1.0
Find for the lens:
(a) Principal Points
(b) Focal Points
(c) Focal Length
(d) Nodal Points
Input plane Input plane Output plane Output plane
38
Example: thick lens analysis
1

|
|
|
|
|

\
|
|
|

\
|

= =
L
L L
n
P
t
n
n
n
P
n
n
t
n
P
t
T L
2
1
1 2
1
' '
1
Thick lens matrix Thick lens matrix
n n
n n
L L
n n
T
L
n
P P
t P P P
2 1
2 1
+ =
2
2
1
1
'
R
n n
P
R
n n
P
L
L

=
t
39
Example: thick lens analysis
( )
( )
( )
( )
1
2 1 1 2
, :
1
1 1
50* 0.8
50*1.0
1
1.8*30 1.8
50* 0.8
0.8 0.8 0.8*50
1 1
45 1.8*30 30 1.8*45
L
L L
L
L L L
L L
Thick lens matrix assuming n n
t n n
t n
n R n
A B
M
C D
t n n
n n n n n n
t
n R n R n R n R

=
(
+
(
(
(
= = =
(
(
(


(
+ + +
(
(


(
+
(
(
= =
(
(

+ + +
(
(


: det Check M AD BC = =
40
Example: thick lens analysis
1
0.2593 27.77 0.02206 1.494 A B mm C mm D

= = = =
1
2
1.494
67.72
0.02206
0.2593
11.75
0.02206
1.494 1
22.39
0.02206
1 0.2593
33.58
0.02206
1.494 1
v 22.39
0.02206
1 0.2593
33.58
0.02206
45.33
45.33
p mm
q mm
r mm
s mm
mm
w mm
f p r mm
f q s mm
= =

= = +

= =

= =

= =

= =

= =
= = +
41
Example: thick lens analysis
R
1
= +30
mm
R
2
= +45
mm
RP
1
RP
2
V
1
V
2
t = 50 mm
n
L
= 1.8
n
0
=
1.0
n
0
= 1.0
PP
1
F
1
F
2
PP
2
H
1
H
2
42
Example: thick lens analysis
R
1
=
+30
mm
R
2
=
+45
mm
RP
1
RP
2
t = 50 mm
PP
1
F
1
F
2
PP
2
H
1
H
2
s
i
= +86.7 mm
s
o
= -95 mm
In general,
for any
optical
system:
1 2
0 0
1 2
0 0
1
1 1 1
:
i
i
i
i
n s f f
m
s s n s
s
for n n f f f m
s s f s
+ = =

= = = + = =
43
f
1
= +50 mm
f
2
= +30 mm
q = 100 mm
r s
Input
Plane
Output
Plane
F
1 F
2
F
1
F
2
T
1
R
1 R
2
T
3
T
2
0
3 2 2 1 1
0
2 1
1
2 1 1 2
1 0 1 0
1 1 1
1 1
1 1
0 1 0 1 0 1
1
1 0 1 1 0
1 1 1
1 1 1
1 1 1
0 1 0 1 0 1
f
f
y
y s q r
M M T R T R T
f f
q qr
r q
r
f f s q s
M r
f f f f

( (
(
( ( ( (
( (
= = =
(
( ( ( (
( (



( (

+
( ( (
( ( (
( ( (
= =
( ( (
( ( (
+

( ( (

1
1 1
1
1
r
f f
(
(
(
(
+
(

Example: Analysis of a two-lens system
44
f
1
= +50 mm
f
2
= +30 mm
q = 100 mm
r s
Input
Plane
Output
Plane
F
1 F
2
F
1
F
2
T
1
R
1 R
2
T
3
T
2
1 1
3 2 2 1 1
2 1 1 2 1 1
1 2 1 1 2 2 1 1
2 1 1 2 1 1
1
1
0 1
1 1 1
1 1
1 1 1
1 1 1
1 1
q qr
r q
f f
s
M T R T R T
q qr r
r q
f f f f f f
q s s q qr r q qr r
r q s
f f f f f f f f
q qr r
r q
f f f f f f
(
+
(
(
(
= = =
(
(
| | | |

+ +
( | |
(
\ \

| | | | + +
+ +
| |
\ \

| | | |

+ +
| |
\ \

(
(
(
(
(
(

Example: Analysis of a two-lens system

45
f
1
= +50 mm
f
2
= +30 mm
q = 100 mm
r s
Input
Plane
Output
Plane
F
1 F
2
F
1
F
2
T
1
R
1 R
2
T
3
T
2
( )( ) ( ) ( )
2 1 1
2 1 1 1 2
1
1 0
30 50 100 50
175 :
100 50 30
f f q f q r r
D r q r
f f f q f f
r mm check
| |
+
= + + = =
|

\
+
= =

Input focal plane (first focal plane): D = 0
f
= Cy
o
(independent of
o
)
Example: Analysis of a two-lens system
46
Example: Analysis of a two-lens system
f
1
= +50 mm
f
2
= +30 mm
q = 100 mm
r s
Input
Plane
Output
Plane
F
1 F
2
F
1
F
2
T
1
R
1 R
2
T
3
T
2
Output focal plane (second focal plane): A = 0 y
f
= B
o
(independent of y
o
)
1 2 1 1
1 1 0
q s q s
A
f f f f
| |
= =
|
\
Do it by yourself. Do it by yourself.
47
Two-Lens System: Imaging Planes
( )
( )
( )
( )
1
1 2 2 1 1
2 2 1 1
1 2 2 1 2 2 1 2
1 1 2 2 1 2 1 1 2
1 2 1
1 0
1
1 1
qr
r q
qr r q qr r f
B r q s s
r q qr r
f f f f f
f f f f
f f r q f qr r f f f q f f q
f r q qr f f f r r f q f f q f f
q s s q
m A
f f f
+
| | +
= + + = =
|
+
\
+
+ +
= =
+ + + +
| | +
= =
|
\
f
1
= +50 mm
f
2
= +30 mm
q = 100 mm
r s
Input
Plane
Output
Plane
F
1 F
2
F
1
F
2
o
o
Ay y
y
D C
A y
=
|
|

\
|
|
|

\
|
=
|
|

\
|
'
0
'
'

48
Aberrations
A mathematical treatment
can be developed by
expanding the sine and
tangent terms used in the
paraxial approximation
Chromatic: Chromatic: Monochromatic Monochromatic
Unclear Unclear
image image
Deformation Deformation
of image of image
Spherical Spherical
Coma Coma
astigmatism astigmatism
Distortion Distortion
Curvature Curvature
n ( n ( ) is a function of wavelength ) is a function of wavelength