A lens forms an image by refracting light. A convex lens brings parallel rays together at the principal focus. A concave lens spreads parallel rays out so that they seem to come from the principal focus. The distance from the lens to the principal focus is the focal length.
A real image is formed where rays actually meet, so it can be shown on a screen. A virtual image is where rays only appear to come from.
Each colour of light has its own narrow band of wavelength and frequency. An opaque object has the colour of the wavelengths it reflects most strongly. A colour filter transmits some wavelengths and absorbs the others.