Most of the basic lens and optical system concepts are covered in introductory university physics texts. For more advanced coverage, especially lens aberrations, see the classic optical engineering text: . A convenient guide that quickly covers the geometry of optics is . Thorough coverage of optical systems that utilize electronics, lasers, and MEMS, is given in . This provides a basis for understanding next-generation visual display technologies. An excellent book that considers the human eye in combination with engineered optical components is . Cameras are covered from many different perspectives, including computer vision [112,323], camera engineering , and photography . Mathematical foundations of imaging are thoroughly covered in .