The document defines and describes the cardinal points of an optical system, which characterize its imaging properties. It discusses the focal points and planes, where light rays converge or pass through unchanged. It also covers the principal points and planes, which define where refraction appears to occur. The nodal points are defined as points where light rays pass through undeflected. All of these cardinal points lie on the optical axis and allow the system's behavior to be analyzed using paraxial approximations.