Telecentricity is one of those optics issues that can have even highly experienced vision pros scratching their heads, but a grasp of this specialist area can help in solving challenging vision problems.
I could give you a short lecture on the subject, but, courtesy of optics.org, (an Institute of Physics website,) I’ve found a paper that covers telecentric lenses (pdf file) much more thoroughly.
You might also like to peruse the other “Technology Tutorials” on the optics.org website: there’s some interesting stuff to be found.
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