A freeform prism-lens group includes: a primary prism; a first auxiliary lens; and a beamsplitter film between the primary prism and the first auxiliary lens and having a predetermined beamsplitting ratio; wherein: the first auxiliary lens has a first optical surface substantially conforming to a neighboring freeform surface of the primary prism; and the first auxiliary lens has a second opposing optical surface distal from the primary prism that is planar, aspheric, or spherical with a curvature radius greater than 100 mm.