Direct stigmatic imaging with curved surfaces.

We study the possibilities of direct (using one intersection with each light ray) stigmatic imaging with a curved surface that can change ray directions in an arbitrary way. By purely geometric arguments we show that the only possible case of such imaging is the trivial one where the image of any point is identical to the point itself and the surface does not perform any change of the ray direction at all. We also discuss an example of a curved surface which performs indirect stigmatic imaging after twice intersecting each light ray.