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rays that enter the system parallel to the optical axis are focused such that they pass through the rear focal point

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An object infinitely far from the optical system forms an image at the rear focal plane
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rays that enter the system parallel to the optical axis are focused such that they pass through the rear focal point.
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https://en.wikipedia.org/wiki/Cardinal_point_(optics)
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An object infinitely far from the optical system forms an image at the rear focal plane.
The front and rear (or back) focal planes are defined as the planes, perpendicular to the optic axis, which pass through the front and rear focal points.
If the medium surrounding the optical system has a refractive index of 1 (e.g., air or vacuum), then the distance from the principal planes to their corresponding focal points is just the focal length of the system.
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