A more useful lens matrix can be found by assuming a focal length.
-----Geometrical Optics playlist - https://www.youtube.com/playlist?list=PL9_sR6QqqcykEaDlDontokT4fT15uKygd
-----Use the channel, or take the courses at edX - https://www.edx.org/course?search_query=hafner+ricex
-----This material was produced by Rice Online - http://online.rice.edu
