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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: [303]. A convenient guide that quickly covers the geometry of optics is [105]. Thorough coverage of optical systems that utilize electronics, lasers, and MEMS, is given in [158]. 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 [301]. Cameras are covered from many different perspectives, including computer vision [112,323], camera engineering [127], and photography [302]. Mathematical foundations of imaging are thoroughly covered in [19].