In non-rotationally symmetric optical systems, chromatic aberrations must be defined in a generalized way with reference to the optical axis ray and optimal tilted parabasal image plane of the central wavelength. In this paper, the definition of generalized chromatic aberrations is clarified. The mathematical calculation in optical systems with arbitrary symmetry and surface shape is realized by ray- and wavefront-based methods, respectively, that are originally identical. The additivity of wavefront after each surface ensures the surface decomposition of chromatic aberrations. In the end, the influence of pupil aberration, which is of a higher order, is discussed. The consistency of our methods with Seidel aberrations in the lowest aberration order of the rotationally symmetric system and the application of our methods in diverse non-rotationally symmetric refractive systems will be addressed in detail in Part II.