Chapter

Chapter 18.
18.
Matrix
Matrix Methods
Methods in
in paraxial
paraxial optics
optics

< Cardinal points (planes) >

Focal (F) points (planes)
• EFL: Effective Focal Length (or simply “focal length”)
• FFL: Front Focal Length
• BFL: Back Focal Length

Principal (H) surface (planes)

Nodal (N) points (planes)

< Matrix methods to find the cardinal points in paraxial optics >
Ray-transfer matrix
• Translation Matrix
• Reflection Matrix
• Refraction Matrix
• Lens Matrix
• Mirror Matrix
 Complex
Complex optical
optical systems
systems
Thick lenses, combinations of lenses etc..
Consider case where t is not negligible.
We would like to maintain our Gaussian
n n’
imaging relation

t
n n' 1 1 
  (nL  n' )    P
s s'  R1 R2  nL

But where do we measure s, s’ ; f, f’ from? How do we determine P?

We try to develop a formalism that can be used with any system!!

We need to define cardinal points (planes) :

 focal (F), principal (H), and nodal (N) points (planes)
Example: Focal Lengths & Principal Planes

generalized optical system

(e.g. thick lens,
multi-element system)

EFL: Effective Focal Length (or simply “focal length”)

FFL: Front Focal Length
BFL: Back Focal Length
FP: Focal Point/Plane
PS: Principal Surface/Plane
The significance of principal planes

object

multi-element
optical system

lateral hold, where f= (EFL)

 Utility
Utility of
of principal
principal planes
planes
Suppose s, s’, f, f’ all measured from H1 and H2 …

n nL n’

h F1 F2
H1 H2
h’

ƒ ƒ’

s s’

f' f f f' 1 1 1
   1   if n  n '
n' n s s' s s' f
 Cardinal
Cardinal points
points and
and planes:
planes: 11ststFocal
Focalpoints
points(F
(F11))

제 1 초점 (first focal point, object side focal point): F1

 무한대에 상이 생기는 축 상 물체 점

 상 측에서 광 축과 평행하게 입사한 광선이 모이는 점, 또는, 모이는 것처럼 보이는 점.

u'k=0 u'k=0

F1 F1

... ...

1 k 1 k
 Cardinal
Cardinal points
points and
and planes:
planes: 22ndndFocal
Focalpoints
points(F
(F22))

제 2 초점 (second focal point, image side focal point) : F2

 무한대에 있는 축 상 물체 점의 상점

 광축과 평행하게 입사한 광선이 모이는 점(실상), 또는, 모이는 것처럼 보이는 점(허상)

u1=0 u1=0
...
F2
F'
FF'
2

1 k
1 k (마지막 면)
 1st
1stPrincipal
Principalplanes
planes(PP
(PP11))and
andpoints(H
points(H11))
n nL n’

F1
H1

PP1
제 1 주요면 (물체측 주요면) : PP1
-상측에서 광축과 평행하게 입사한 광선을 물체측에서 보아 굴절되는 것처럼 보이는 가상면.

제1 주요점 (물체측 주요점 ): H1 – 제1 주요면과 광축의 교점.

 2nd
2ndprincipal
principalplanes
planes(PP
(PP22))and
andpoints
points(H
(H22))

n nL n’

F2
H2

ƒ’

PP2
제 2 주요면 (상측 주요면) : PP2
- 물체측에서 광축과 평행하게 입사한 광선을 상측에서 보아 굴절되는 것처럼 보이는 가상면.

제2 주요점 (상측 주요점 ): H2

- 제2 주요면과 광축의 교점.
 Objective
Objective distance,
distance, image
image distance
distance

물체거리 (object distance) P P'

h h
: 제1 주요면에서 물체까지의 거리
o u1 u' k o'
H H'

s = HO

1 k

상거리 (image distance) sl s’

l'

: 제2 주요면에서 상면까지의 거리

s’ = H’O’
n1 n'1

h1
u1 u' 1
* 면에서 물체까지의 거리 l1, l2 등과는 다름. o A1= H 1= H' 1

ll1
1
면의 물체거리
1 2 ll'2 면의 상거리
1
 Effective
Effective focal
focal length
length &
& back
back focal
focal length
length
유효 초점거리(effective focal length, efl): f'
- 제2 주요점에서 제2초점까지의 거리 : efl = f’ = H’F’
후 초점거리(back focal length, bfl): f‘b
-광학계의 마지막 면의 정점에서 제2 초점까지의 거리 : bfl = f’b = AkF’
제2 주요면의 위치 = bfl - efl
1 ...... k

u 1 =0 u' k =0

h1
hk
hk
h1
F u1 u' k F'
A1 H H' Ak

bfl
fb
bfl,f' f’b
b

f efl, f'f’
efl,
 Front
Front focal
focal length
length == Working
Working distance
distance of
of aa lens
lens
물체측 초점거리(Object side focal length): f
- 제1 주요점에서 제1 초점까지의 거리 : f = HF
앞 초점거리(front focal length): fb = 작동거리 (working distance)
- 제1면의 정점에서 제1초점까지의 거리 : fb = A1F
제1 주요면의 위치 : fb - f
1 ...... k

u 1 =0 u' k =0

h1
hk
hk
h1
F u1 u' k F'
A1 H H' Ak

bfl
f
f bb
bfl,f' f’b
b

ff efl, f'f’
efl,
 Utility
Utility of
of principal
principal planes
planes
Suppose s, s’, f, f’ all measured from H1 and H2 …

n nL n’

h F1 F2
H1 H2
h’

ƒ ƒ’

s s’

f' f f f' 1 1 1
   1   if n  n '
n' n s s' s s' f
Nodal
Nodalpoints
points(N
(N11,,NN22))and
andNodal
Nodalplanes
planes(NP
(NP11,,NP
NP22))

절점(nodal point : N1, N2)

 광학계는 입사각과 출사각이 같은 광선이 1개 존재.
 제1절점:이 광선을 물체측에서 보아 입사하는 것처럼 보이는 점.
 제2절점:이 광선을 상측에서 보아 출사하는 것처럼 보이는 점.

n’
n

N1 N2

nL

NP1 NP2
 Nodal
Nodal point
point (N)
(N) and
and optical
optical center
center (c)
(c)
Nodal point 의 성질
i) 제1절점으로 입사한 광선은 제2절점에서 출사 (제1절점 - 광심 (C) - 제2절점)
ii) 제1절점으로 입사한 광선은 입사각과 출사각이 같다.
iii) 상측 매질의 굴절률과 물체측 매질의 굴절률이 같으면 절점과 주요점은 같다.
N 1 = H1 , N2 = H2
iv) 제2절점을 기준으로 광학계를 회전시키면 상의 위치는 변화하지 않는다.

NN1 F'
NN'2 u
u' c
C F'

1 2

광심(optical center : C) :
절점(nodal point)을 정의하는 하나의 광선 (입사각과 출사각이 같은 광선)이
실제로 광 축과 교차하는 점.
Cardinal
Cardinal planes
planes of
of simple
simple systems
systems
Thin
Thin lens
lens

V’ and V coincide and

n n'
V’ V  P
H, H’ s s'
is obeyed.

Principal planes, nodal planes,

coincide at center
Cardinal
Cardinal planes
planes of
of simple
simple systems
systems
Spherical
Spherical refracting
refracting surface
surface

n n’
Gaussian imaging formula
obeyed, with all distances
measured from V
V

n n'
 P
s s'
 Combination
Combinationofoftwo
twosystems:
systems:
e.g.
e.g.two
twospherical
sphericalinterfaces,
interfaces,two
twothin
thinlenses
lenses…
…

n H 1 H 1’ n2 Ht’ h’ n’
H2 H 2’
1. Consider F’ and F1’

Find h’
y
Y
F’ F1’

ƒ t’
ƒ1’
 Combination
Combinationof
oftwo
twosystems:
systems:
h H H 2 H 2’

Find h H 1’
H1

y
Y

F2 F

ƒ
d
ƒ2
1. Consider F and F2

n n2 n’
 Summary
Summary
H H’
H 1 H 1’ H 2 H 2’
n n2 n’

F F’

d
h h’
ƒ ƒ’
 Summary
Summary
f P2  n 
hd  H1 H  d 
f2 P  n2 
f' P1  n' 
h'   d  H 2 H '  d 
f1 ' P  n2 
n' n' n2 dn' n
   
f ' f 2 f1 ' f1 ' f 2 ' f
or ,
P1 P2
P  P1  P2  d Hecht, 6.1, p.214
n2
 Thick
Thick Lens
Lens

In air n = n’ =1
n n2 n’ Lens, n2 = 1.5

R1 = - R2 = 10 cm
d = 3 cm

Find ƒ1,ƒ2,ƒ, h and h’

Construct the
R1 R2 principal planes, H,
H’ of the entire
system
H1,H1’ H2,H2’
Principal
Principal planes
planes for
for thick
thick lens
lens (n
(n22=1.5)
=1.5) in
in air
air

Equi-convex or equi-concave and moderately thick

 P1 = P2 ≈ P/2
d f
h  
n2 f2
H H’ H H’
d f
h'  
n2 f1

d
h   h' 
3
Principal
Principal planes
planes for
for thick
thick lens
lens (n
(n22=1.5)
=1.5) in
in air
air
Plano-convex or plano-concave lens with R2 = 
 P2 = 0

d f
h 
n2 f 2
H H’ d f H H’
h'   
n2 f1

h  0
2
h'  d
3
Principal
Principal planes
planes for
for thick
thick lens
lens (n=1.5)
(n=1.5) in
in air
air
For meniscus lenses, the principal planes move
outside the lens
R2 = 3R1 (H’ reaches the first surface)

H H’ H H’ H H’ H H’

d f
h 
n2 f 2
d f
h'   
n2 f1

P Same for all lenses

Examples:
Examples: Two
Two thin
thin lenses
lenses in
in air
air
H H’
ƒ1 ƒ2
n = n2 = n’ = 1

Want to replace Hi, Hi’ with H, H’

P1 f
h'   d   d
P f1

P2 f
hd d
P f2
d
h h’
H 1 H 1’ H 2 H 2’
 Examples:
Examples: Two
Two thin
thin lenses
lenses in
in air
air
H H’
ƒ1 ƒ2
n = n2 = n’ = 1

P1 P2
P  P1  P2  d
n2
F F’
or ,
1 1 1 d
  
f f1 f 2 f1 f 2

d 1 1 1
 
ƒ ƒ’ s s' f
s s’
 Two
Two separated
separated lenses
lenses in
in air
air
If f1’=2f2’

H’ H H’ H

F’ F’
F F

f’ f’

d = 0.5 f2’ d = f2’

 Two
Two separated
separated lenses
lenses in
in air
air
f1’=2f2’

H’ Principal points at 
H

F’
F
f’

d = 3f2’
d = 2f2’ e.g. Astronomical telescope
 Two
Two separated
separated lenses
lenses in
in air
air
f1’=2f2’

e.g. Compound microscope

H H’

F’
F
f’

d = 5f2’
Two
Two separated
separated lenses
lenses in
in air
air
f1’=-2f2’

e.g. Galilean telescope

d = -f2’

Principal points at 
 Two
Two separated
separated lenses
lenses in
in air
air
f1’=-2f2’

H H’

F F’

f’

e.g. Telephoto lens

d = -1.5f2’
 우와아 !!! 복잡하다
~ !!!
우와아~ 복잡하다..
렌즈 2개가 있는 경우도 힘들다.
3개 이상 있으면?
못하겠다.
포기?
좋은 방법이 없을까?
H H H’ H’ H H’

H1 H11’
H H1’ H1 H1’ H HH H2’ H2 H2’
2 2 2’
n n n n2 n2 n2 n’ n’ n’

F F F F’ F’ F’

d d d

h h h h’ h’ h’
ƒ ƒ ƒ ƒ’ ƒ’ ƒ’
 Matrix
Matrix Methods
Methods in
in paraxial
paraxial optics
optics

• Development of systematic methods of analyzing optical systems

with numerous elements

• Matrices for analyzing the translation, refraction, and reflection of

optical rays

• Matrices for thick and thin lenses, optical systems with numerous
elements
 Matrix
Matrix Method
Method

y2  Ay1  B1  y2   A B  y1 
     
 2  Cy1  D1   2   C D  1 
ABCD Matrix
What
What is
is the
the ray-transfer
ray-transfer matrix
matrix

sin   tan   
How
How to
to use
use the
the ray-transfer
ray-transfer matrices
matrices
How
How to
to use
use the
the ray-transfer
ray-transfer matrices
matrices

translation refraction translation translation

 Translation
Translation Matrix
Matrix
( y1, 1 )

( yo, o )

1   0 y1  y0  L tan  0  y0  L  0

y1  1 y0   L   0
1   0  y0  1  0

 y1  1 L   y0  1 x1  x0   y0 
   0 1     0   
 1   0  1  0
 Refraction
Refraction Matrix
Matrix
y
     
R n n'

y y y=y’
         
R R

Paraxial Snell ' s Law : n   n 

y n y  n  y y 1n  n

                  1  y    
R  n  R  n   R R R  n  n 

y  1 y   0  

 1 0 
y 
     y Concave surface : R  0
    1  n  1  n     Convex surface : R  0
          
R  n   n 
 Reflection
Reflection Matrix
Matrix
y y y
               
R R R

Law of Reflection :   

y y 2
       y
R R R
y=y’
y  1 y   0  
2
    y  1 
R

1 0
 y     y
    2  
  1   
R 
 Thick
Thick Lens
Lens Matrix
Matrix II

 1 0
 y1    y0   y0 
Refraction at first surface :     n  nL n     M 1  
 1  n R   0 
 L 1 nL   0 

 y2  1 t   y1   y1 
Translation from 1st surface to 2nd surface : 
   0 1    M 2  
 2    1 1 

 1 0
 3 
y  y2   y2 
Refraction at second surface :     nL  n nL     M 3  
 3   n R   2 
 2 n   2 
 Thick
Thick Lens
Lens Matrix
Matrix IIII
Thick lens matrix : M  M 3 M 2 M1

 1 0  1 0
 
M   nL  n nL   n  n n 
1 t
 
0 1  L

 n R2 n    nL R1 nL 

Assuming n  n :
 t  n  nL  t n
 1 0  1  
M   nL  n nL  
nL R1 nL 
  n  nL n
 n R2 n   
 nL R1 nL 
 t  n  nL  tn 
 1  
nL R1 nL
 
 n  n  t n  n   n  n nL  n 
 L 1 
L

L
t  1
 n R2  nL R1  n R1 nL R2 
 Thin
Thin Lens
Lens Matrix
Matrix
The thin lens matrix is found by setting t = 0:

Thin lens matrix :

 1 0
 
M   nL  n  1 1
 1
 n  R2 R1  

nL
1 nL  n  1 1 
but    
f n  R1 R2 

1 0
M   1 
 1
 f 
Summary
Summary of
of Matrix
Matrix Methods
Methods

0
 System
System Ray-Transfer
Ray-Transfer Matrix
Matrix

 y1   y2 n  2 
   
 1  2n2 

Introduction to
Matrix Methods
in Optics, A.
Gerrard and J.
M. Burch
 System
System Ray-Transfer
Ray-Transfer Matrix
Matrix
Any paraxial optical system, no matter how complicated, can be
represented by a 2x2 optical matrix. This matrix M is usually denoted

A B
M   : system matrix
C D 
A useful property of this matrix is that

n0
Det M  AD  BC 
nf
where n0 and nf are the refractive indices of the initial and final media of
the optical system

Usually, the medium will be air on both sides of the optical system and

n0
Det M  AD  BC  1
nf
 Significance
Significance of
of system
system matrix
matrix
elements
elements
The matrix elements of the system matrix can be analyzed
to determine the cardinal points and planes of an optical system.

 y f   A B   y0  y f  Ay0  B 0
       
 f  C D  0  f  Cy0  D 0

Let’s examine the implications

when any of the four elements of the system matrix is equal to zero.

D=0 : input plane = first focal plane

A=0 : output plane = second focal plane
B=0 : input and output planes correspond to conjugate planes
C=0 : telescopic system
D=0 A=0

B=0 C=0
 System
System Matrix
Matrix with
with D=0
D=0
Let’s see what happens when D = 0.

 y f   A B   y0 
       
 f  C 0  0

y f  Ay0  B 0
 f  Cy0

When D = 0, the input plane for the optical system is the first (object) focal plane.
Ex) st
Ex) Two-Lens System : find the 1st focal
Two-Lens System : find the 1 focal plane
plane
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 r 
   M   M  T3 R2 T2 R1 T1     1 1   0 1   
1
1   0 1 
 f  0   0 1  f   f1 
 2
 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  f 1  1 r 
 2   f1 f1   f 2     1 
 f1 f1 
M  T3 R2 T2 R1 T1
 q qr 
 1 rq 
 1 s  f1 f1

 
 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  
 f1 f2  f1  f1  f2 f 2 f1 f1  

  1 qr  r
 < check! >
  1 1  q   1  r  q    1 
 f2  f1  f1 f2  f1  f1 
H H’
ƒ1 ƒ2

1 qr  r
D  r  q    1  0
f2  f1  f1 F F’

 f 2 f1  q f1
r
q  f1  f 2 r
d
h
ƒ ƒ’
  30  50   100  50  s s’
r  175 mm
100  50  30 1 1 1
  
d
 f 
f1 f 2
hd
P2
d
f
f f1 f 2 f1 f 2 f1  f 2  d P f2

 f  d  f1 f 2  f1d
r  f h  f  2 
 f 2  f1  f 2  d
 System
System Matrix
Matrix with
with A=0,
A=0, C=0
C=0
When A = 0, the output plane for the optical system is the output focal plane.

 yf  0 B   y0 
   
 f  C D   0 
y f  B 0
 f  Cy0  D 0

When C = 0, collimated light at the input plane is collimated light at the

exit plane but the angle with the optical axis is different. This is a
telescopic arrangement, with a magnification of D = f/0.

 y f   A B   y0 
      
 f  0 D  0
y f  Ay0  B 0
 f  D 0
 System
System Matrix
Matrix with
with B=0
B=0
When B = 0, the input and output planes are object and image planes,
respectively, and the transverse magnification of the system m = A.

Conjugate planes
 y f   A 0   y0 
      
 f  C D  0

y f  Ay0
 f  Cy0  D 0

yf
m A
y0
 Ex)
Ex) Two-Lens
Two-Lens System
System with
with B=0
B=0

Object f1 = +50 mm f2 = +30 mm Image

Plane Plane

F1 F1 F2 F2

r q = 100 mm s
T1 R1 T2 R2 T3
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   f 1 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
m  A  1  1  
f1 f2  f1 
 Location
Location of
of Cardinal
Cardinal Points
Points (Planes)
(Planes)
for
for an
an Optical
Optical System
System

Principal planes
Nodal planes
Focal planes

Distances measured to the right of the respective reference plane are positive,
distances measured to the left are negative. As shown:
p<0 q>0
f1 < 0 f2 > 0
r>0 s<0
v>0 w<0
유도해보자!
 Ex)
Ex) Thick
Thick Lens
Lens Analysis
Analysis

Find for the lens:

(a) Principal Points Input plane output plane

(b) Focal Points (RP1 ) (RP2 )
(c) Focal Length
(d) Nodal Points

n0 = 1.0 nL = 1.8 n0 = 1.0

V1 V2

R1 = +30 mm R2 = +45 mm

t = 50 mm
 Thick
Thick Lens
Lens Analysis
Analysis
Thick lens matrix, assuming n  n :
 t  n  nL  tn 
 1 
 A B   n R n 
M   
L 1 L
  n  n  t n  n   n  n 
 C D  n  n
 L 1 
L

L L
t  1
 n R2  nL R1  n R1 nL R2 
 50*  0.8  50*1.0 
 1 
 1.8*30 1.8   0.2593 27.77 
 
 0.8  50*  0.8   0.8 0.8*50   0.02206 1.494 
 1    1
 45  1.8*30  30 1.8* 45 

Check : det M  AD  BC  1
 Thick
Thick Lens
Lens Analysis
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
 Thick
Thick Lens
Lens Analysis
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

F1
H1 H2 F2

t = 50 mm

f2
so = -95 mm si = +86.7 mm
 Ray
Ray tracing
tracing
부호에 관한 규약
1) 광선은 최초에 좌 → 우로 진행
좌 → 우 : 순방향 우 → 좌 : 역방향

2) 좌표계의 원점은 면의 정점에 둔다. y 축

광축은 z-축
2) 3)
x축
3) 곡률 반경의 부호는 곡률 중심의 위치에 따른다. r2 (-)
r1 (+)
4) 여러 개의 면이 있으면 각 면의 정점을 A원점으로 하는 좌표계를 사용. c2 A1 A2 c1
z축
※ 면 번호(Surface Number) : 광선이 만나는 순서대로 붙인 면의 번호
1 2

k+1
1 2 3 4 k-1 k
y1 y2 yk-1

o o'
z1 z 2
z k-1

d1 d2
물체면 상면
 Ray
Ray tracing
tracing
부호에 관한 규약

5) 굴절률의 부호 ---- 순방향 : + 역방향 : -

n=1
n1 =1

n'1=n2=-1
순방향일때 굴절률도 (+)
역방향일때 굴절률도 (-)
n 2'=1
2

1
 Paraxial
Paraxial ray
ray tracing
tracing
근축 광선 추적(Paraxial Ray Tracing) = Gaussian ray tracing (GRT)
 근축 광학적 근사를 통하여 계산된 광선의 진행경로.
굴절 방정식(refraction equation)
n i n'
n sin i  n 'sin i '  ni  n ' i ' (  i, i '  1)
i'
i'  -u ' , i  -u
h r
n ' u '- n '  nu - n
u  u'
n ' u '  nu   (n ' n) o A C o'
h  r sin  ~ r    h/r
l l’
n ' n
 n ' u '  nu  hk , k  : power of refraction
r
결상 방정식(imaging equation)

h h n' n n' n n ' n

u' , u    K , or,  K
l' l l' l l' l r

면 불변량 (surface invariant) = (Abbe’s Zero invariant)

From Snell's law, n ' u ' n '  nu  n

h h h  1 1 1 1 
u' , u  , =  Q  n '    n   
l' l r l' r  l r 
 Paraxial
Paraxial invariance
invariance
불변량 (invariant) : 굴절 전후에 변화하지 않는 물리량

굴절 불변량 (snell’s law) : n sin i  n 'sin i '

근축 굴절불변량 (snell’s law) : ni  n ' i '
면 불변량 (surface invariant) = (Abbe’s Zero invariant)
From Snell's law, n ' u ' n '  nu  n
h h h  1 1 1 1 
u' , u  , =  Q  n '    n   
l' l r l' r  l r 

Lagrange 불변량
o1 n n'
 '
n  n '  '  n  n
ll'  h
h h h h
u  ,u '   l  ,l '  o u  u' o'
l l u u' A '
 H=nu  n ' u ' ' '

o'1

l l'