Matrix methods in paraxial optics

(analytical ray tracing and ABCD laws)

Textbook (Hecht), 6.2

1
Complex optical system
Camera Lens

2
Matrices in paraxial Optics
Translation
(in homogeneous medium)
α

α0 y
yo

y = (1) yo + (L )α o
α = (0) yo + (1)α o
 y   1 L  yo 
  =   
α   0 1 αo 
3
Matrices in paraxial Optics
Translation
(in homogeneous medium)
α

α0 y
yo

y = (1) yo + (L )α o 1 L
α = (0) yo + (1)α o T =  
0 1 
4
Matrix methods in paraxial optics
Refraction at a spherical interface

α’ θ’ = ϕ + α’
θ
φ
nθ = n 'θ '
y=y’
α φ n (α + ϕ ) = n ' (ϕ + α ' )

ϕ ≈ y/R n n − n'
α'= α + ϕ
n' n'
n n’
n'−n y n
α'= − + α
R n ' n' 5
Matrix methods in paraxial optics
Refraction at a spherical interface
y' = y + 0
α’
θ n'−n y n P n
φ α'= − + α =− y+ α
R n' n' n' n'
y
α φ

 y'   1 0  y 
n n’   = P n  
 − 
   n' n' α 
α ' 6
Matrix methods in paraxial optics
Refraction at a spherical interface
y' = y + 0
α’
θ n'−n y n P n
φ α'= − + α =− y+ α
R n' n' n' n'
y
α φ

 1 0
n n’ R= P n 
− 
 n' n'  7
Matrix methods in paraxial optics
Refraction at a spherical interface
n'−n y n P n
α' = − + α =− y+ α
R n' n' n' n'
θ α’ y' = y + 0
α
y θ’ = ϕ + α’ < ϕ
θ’
φ
α’

 1 0
n n’ ℜ=  P n 
− 
 n' n' 
8
 Matrix methods in paraxial optics
Lens matrix
ℜ1 ℜ2
T  1 0 1 d 
ℜ1 =  − P1 n  T =  
 
 nL nL  0 1 
n nL n’

 1 0
ℜ2 =  P2 nL 
− 
For the complete system  n' n' 
L = ℜ2 •T •ℜ1
9
Note order – matrices do not, in general, commute.
 Matrix methods in paraxial optics
Thick lens matrix

nL − n  P1 n 
P1 = 1 − d d 
R1 
L = ℜ 2 • T • ℜ1 = 
nL nL 
P n P2  
n'−nL  − 1 − d  
P2 =
 n' n'  nL  
R2

P1 P2
where, P = P1 + P2 − d
nL 10
Matrix methods in paraxial optics
Lens matrix
 P1 n 
1 − d d 

L = ℜ 2 • T • ℜ1 = 
nL nL 
ℜ1 ℜ2
P n P2  
 − 1 − d  
T
 n' n'  nL  
nL − n
P1 =
n nL n’ R1
P1 P2
n'−nL P = P1 + P2 − d
P2 = nL
R2

n
detL =
n' 11
Thin lens matrix
Recall that for a thick lens
 P1 n 
1 − d d 

L = ℜ 2 • T • ℜ1 = 
nL nL 
P n P2  
 − 1 − d  
 n' n'  n L  

For a thin lens, d=0

 1 0
⇒ L=  P n
− 
 n' n'  12
 Thin lens matrix
Recall that for a thick lens

P1 P2
P = P1 + P2 − d
nL
For a thin lens, d=0
n L − n n '− n L n n '
⇒ P = P1 + P2 = + = =
R1 R2 f f'
In air, n=n’=1
 1 0

L= − 1 
1 1 nL − 1 1 − nL 1 1   1
P= = = + = (nL − 1) − 

f f' R1 R2  R1 R2   f 
13
Reflection Matrix
y y y
α′ = θ ′− φ = θ ′− α = θ +φ = θ + θ =α+
−R −R R

Law of Reflection : θ = θ′

y y 2
α′ = θ ′+ = θ+ =α + y
R R R

y ′ = (1) y + ( 0 ) α

α ′ = 
2
 y + (1) α
 
R

1 0
 y ′    y
α ′ =  2 1 α  Reflection of a ray at a spherical surface.
 
R  The inset illustrate the sign conventions.
14
Summary of matrix method

15
Summary of matrix method
Thick Lens matrix

 P1 n 
1 − d d 
ℜ1 ℜ2 
L = ℜ 2 • T • ℜ1 = 
nL nL 
P n P2  
 − 1 − d  
nL  
T
 n' n' 
nL − n
P1 =
n nL n’ R1
P1 P2
n'−nL P = P1 + P2 − d
P2 = nL
R2

16
Summary of matrix method

17
 System Ray-Transfer Matrix

 y1   y2 n + 2 
α  α 
 1  2n+2 

System (ABCD) matrix Introduction to

Matrix Methods
A B in Optics, A.
ℜ =   Gerrard and J.
M. Burch
C D  18
 System (ABCD) matrix
System Matrix

 yo 
   yf   A B  yo 
  = 
 C D α 
α o 
α
……  f    o 
 yf 
 
α 
 f  y f = Ayo + Bα o
Input
plane
Output
plane
α f = Cyo + Dα o

19
Matrix properties

A B
ℜ =  
 C D 
n
detℜ = AD− BC=
n'
20
Matrices: General Properties
M = M 4 •M 3 •M2 •M1

( )
det M = det M 4 det M 3 det M 2 det M 1 ( )
n3  n 2  n1 n n
det M =     =
n '  n3  n2  n1  n '
For system in air, n=n’=1

det M = 1 21
System (ABCD) matrix: Special Cases

 yf   A B  yo 
  = 
α  C D  α 
 f    o 

y f = Ay o + Bα o
α f = Cy o + D α o
22
 System matrix: Special Cases
(a) D = 0 ⇒ αf = Cyo (independent of αo)

 yf   A B  yo  F
  = 
α  C D  α 
 f    o 

 A B
 
C 0  αf
yo
y f = Ay o + B α o
α f = Cy o

Input plane must be the first focal plane 23

 System matrix: Special Cases
(b) A = 0 ⇒ yf = Bαo (independent of yo)

 yf   A B  yo  F’
  = 
α  C D  α 
 f    o 

0 B yf
 
C D αo

y f = Bα o
α f = Cy o + D α o

Output plane must be the second focal plane24

 System matrix: Special Cases
(c) B = 0 ⇒ yf = Ayo

 yf   A B  yo 
  = 
α  C D  α  s
 f    o  s’

A 0
 
C D yo

y f = Ay o yf
α f = Cy o + D α o

Input and output plane are conjugate – A = magnification

25
System matrix: Special Cases
(d) C = 0 ⇒ αf = Dαo (independent of yo)

αo αf

Telescopic system – parallel rays in : parallel rays out 26

 Example: Imaging with thin lens in air
α’
αo

yo y’

Input Output
plane plane

s s’
 1 0

L= − 1 
 1 S = T ( s' ) • L • T ( s)
 f 
27
Example: Imaging with thin lens in air

S = T (s' ) • L • T (s)
1 s '  A B  1 s 
S =    
0 1  C D  0 1 

 A' B '   A + Cs ' As + B + Css '+ Ds ' 

S =   =  
 C ' D'   C Cs + D 
For thin lens: A=1 B=0 D=1 C=-1/f

y’ = A’yo + B’αo
28
Example: Imaging with thin lens in air
For thin lens: A=1 B=0 D=1 C=-1/f
y’ = A’yo + B’αo

For imaging, y’ must be independent of αo

⇒ B’ = 0

B’ = As + B + Css’ + Ds’ = 0
s + 0 + (-1/f)ss’ + s’ = 0

1 1 1
+ =
s s' f 29
Examples: Cardinal points of thick Lens
Find locations of principal planes and effective focal length.
H’
αo=0

yo α’
y’ F’

f’
n nf n’
x’
h’ = - ( f’ - x’ ) h’
30
 Cardinal points of a thick lens
h’ = - ( f’ - x’ )
 y'   A B  y o 
  =   
yo
y’
α’
F’
α '   C D  0 

y ' = Ay0
f’
n nf n’ yo P
x’
α ' = Cy0 = − = − yo
h’ f' n'
 P1 n 
1 − d d  P1 =
nL − n

L=
nL nL  R1
P = P1 + P2 − d
P1 P2
P n P2   n'−nL nL
 − 1 − d   P2 =
 n' n'  nL   R2
31
 Cardinal points of a thick lens
h’ = - ( f’ - x’ )
 y'   A B  y o 
  =   
yo
y’
α’
F’
α '   C D  0 

y ' = Ay0
f’
n nf n’ yo P
x’
α ' = Cy0 = − = − yo
h’ f' n'

1 1 dP1 P2  n' dP1 P2

C = − = −  P1 + P2 −  = P = P1 + P2 −
f' n'  nL  f' nL
Effective second (back) focal length
32
 Cardinal points of a thick lens
y' Ayo
α'= − = − = Cyo
x' x'
A
yo
y’
α’
F’ x' = −
C
f’  A
h ' = − ( f '− x ' ) = − f '+ 
n nf n’
 C
x’
h’ 1
C=−
f'
h’ = - ( f’ - x’ )
 1 A  1− A 
h ' = − − +  =  
 C C  C  33
Cardinal points of a thick lens
Recall that for a thick lens

P1
A = 1− d
nL 1− A dP1 n '
h' = =−
P C nL P
C=−
n'

As we have found before

n' P1
h' = − d h can be recovered in a similar
nL P manner, along with other
cardinal points 34
Cardinal Points (Planes) of an Optical System
References
no nf
System Matrix:

A B
 
C D

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)

f1 < 0 (ref. PP1 ) f2 > 0 (ref. PP2)
r > 0 (ref. IP) s < 0 (ref. OP)
v > 0 (ref. IP) w < 0 (ref. OP) 35
Cardinal Points (Planes) of an Optical System
Cardinal point locations in terms of system matrix elements

36
Example: thick lens analysis
RP1 RP2 Find for the lens:

(a) Principal Points

(b) Focal Points
n0 = 1.0 nL = 1.8 n0 = 1.0 (c) Focal Length
(d) Nodal Points
V1 V2

R1 = +30 mm R2 = +45 mm

t = 50 mm

Input plane Output plane

37
Example: thick lens analysis
Thick lens matrix

 P1 n 
1 − t t 
ℜ1 ℜ2 
L = ℜ 2 • T • ℜ1 = 
nL nL 
P n P2  
T  − 1 − t  
 n' n'  nL  

n nL n’ nL − n
P1 =
t R1 P1 P2
n'− nL P = P1 + P2 − t
P2 = nL
R2
38
Example: thick lens analysis
Thick lens matrix, assuming n = n′ :
 t ( n − nL ) tn 
 1+ 
 A B  nL R1 nL 
M =  ==
C D   n − n  t (n − n )  n − n nL − n 
 L 1 + L
 + L
t + 1
 n R2  nL R1  n R1 nL R2 
 50* ( −0.8 ) 50*1.0 
 1+ 
1.8*30 1.8
= =
 0.8  50* ( −0.8 )  −0.8 0.8*50 
 1 + + + 1
 45  1.8*30  30 1.8* 45 

Check : det M = AD − BC =
39
Example: thick lens analysis
A = 0.2593 B = 27.77 mm C = − 0.02206 mm −1 D = 1.494
1.494
p= = − 67.72 mm
−0.02206
0.2593
q=− = + 11.75 mm
−0.02206
1.494 − 1
r= = − 22.39 mm
−0.02206
1 − 0.2593
s= = − 33.58 mm
−0.02206
1.494 − 1
v= = − 22.39 mm
−0.02206
1 − 0.2593
w= = − 33.58 mm
−0.02206

f1 = p − r = − 45.33 mm

f 2 = q − s = + 45.33 mm 40
Example: thick lens analysis
PP1 RP1 PP2 RP2
n0 = 1.0
n0 = nL = 1.8
1.0

F1 V1 V2
H1 H2 F2

R2 = +45
R1 = +30
mm
mm
t = 50 mm

41
Example: thick lens analysis
In general, f1 f n si
+ 2 =1 m=
for any s0 si n′ s0
optical 1 1 1 si
system: for n = n′ : − f1 = f 2 = f − + = m=−
s0 si f s0

PP1 RP1 PP2 RP2

F1
H1 H2 F2

R1 = R2 =
t = 50 mm
+30 +45
mm mm
so = -95 mm si = +86.7 mm
42
Example: Analysis of a two-lens system
Input f1 = +50 mm f2 = +30 mm Output
Plane Plane

F1 F1 F2 F2

r q = 100 mm s

T1 R1 T2 R2 T3
 1 0  1 0
 yf   y0  1 s     1 q   1  1 r 
α  = M α  M = T3 R2 T2 R1 T1 =    −
1
1  0 1   − 1  0 1
 f  0  0 1
 f 2   f1 
 q qr
 1 0  1 r   1 0  1 − r+q−
1 s     1 q   1 =  1 s   1  f1 f1 
M =  
1 0 1   − − + 1 0 1  −
1 r
 0 1  − 1  1 r 
 f 2   f1 f1   f 2   − − + 1 43
 f1 f1 
Example: Analysis of a two-lens system
Input f1 = +50 mm f2 = +30 mm Output
Plane Plane

F1 F1 F2 F2

r q = 100 mm s

T1 R1 T2 R2 T3
 q qr 
 1− r+q− 
1 s   f1 f1

M = T3 R2 T2 R1 T1 = =  
 0 1  − 1  1 − q 1 1 qr  r 
  − − r + q −  − + 1
 f 2  f1  f1 f2  f1  f1 
 q+s s  q qr  r + q qr r 
 1 − −  1 −  r + q − − s  − − 1 + 
f f  f  f  f f f f 
=
1 2 1 1 2 2 1 1
 1 q 1 1 qr  r 
 − 1 −  − − r + q −  − +1  44
 f2  f1  f1 f2  f1  f 1 
Example: Analysis of a two-lens system
Input f1 = +50 mm f2 = +30 mm Output
Plane Plane

F1 F1 F2 F2

r q = 100 mm s

T1 R1 T2 R2 T3

Input focal plane (first focal plane): D = 0 ⇒ αf = Cyo (independent of αo)

1 qr  r − f 2 f1 + q f1
D=−  r + q −  − +1 = 0 ⇒ r=
f2  f1  f1 q − f1 − f 2
− ( 30 )( 50 ) + (100 )( 50 )
r= = 175 mm check :
100 − 50 − 30 45
Example: Analysis of a two-lens system
Input f1 = +50 mm f2 = +30 mm Output
Plane Plane

F1 F1 F2 F2

r q = 100 mm s

T1 R1 T2 R2 T3

Output focal plane (second focal plane): A = 0 ⇒ yf = Bαo (independent of yo)

q s  q s
A = 1 − − 1 −  − = 0 ⇒ Do it by yourself.
f1 f 2  f1  f1
46
Two-Lens System: Imaging Planes
Input f1 = +50 mm f2 = +30 mm Output
Plane Plane

F1 F1 F2 F2

r q = 100 mm s

qr
r+q−
qr  r + q qr r  f1
B = r+q− −s − −1 +  = 0 ⇒ s=
f1  f2 f 2 f1 f1  r + q qr r
− −1 +
f2 f 2 f1 f1
f1 f 2 ( r + q ) − f 2 qr r ( f1 f 2 − f 2 q ) + f1 f 2 q
= =
f1 ( r + q ) − q r + f1 f 2 − f 2 r r ( f1 − q + f 2 ) + f1 q − f1 f 2

q+s s  q  y '   A 0  yo 
m = A = 1− − 1 −    =    ⇒ y ' = Ayo 47
f1 f2  f1   α '   C D  α 
Aberrations
Chromatic: Monochromatic

n (λ) is a function of wavelength

Unclear Deformation
image of image
Spherical Distortion
Coma Curvature
astigmatism

! A mathematical treatment
can be developed by
expanding the sine and
tangent terms used in the
paraxial approximation

48