cHm{1} = [ 0.987466, 0.088614, 0.130610, -95.192976;
 0.113574, -0.973573, -0.198131, -90.794461;
 0.109602, 0.210481, -0.971435, 358.199940;
 0, 0, 0, 1 ];

cHm{2} = [ 0.986439, 0.093964, 0.134566, -94.305657;
 0.064424, -0.975771, 0.209093, -75.843678;
 0.150953, -0.197589, -0.968593, 276.177968;
 0, 0, 0, 1 ];

cHm{3} = [ 0.925040, -0.379723, 0.010527, -79.259649;
 -0.376385, -0.912461, 0.160465, -30.890645;
 -0.051327, -0.152399, -0.986985, 364.320419;
 0, 0, 0, 1 ];

cHm{4} = [ 0.295737, -0.947016, 0.125302, -106.729066;
 -0.918776, -0.317890, -0.234084, 60.950331;
 0.261514, -0.045897, -0.964108, 394.231571;
 0, 0, 0, 1 ];

cHm{5} = [ 0.634290, -0.770455, -0.063836, -79.043326;
 -0.750817, -0.594228, -0.288389, 20.197249;
 0.184257, 0.230851, -0.955383, 421.615611;
 0, 0, 0, 1 ];

cHm{6} = [ -0.659355, -0.743519, -0.111490, 72.275055;
 -0.751809, 0.653194, 0.090115, 122.031586;
 0.005822, 0.143237, -0.989671, 426.971732;
 0, 0, 0, 1 ];

cHm{7} = [ 0.982897, -0.092054, -0.159496, -165.460293;
 -0.074116, -0.990598, 0.114987, -54.130916;
 -0.168581, -0.101199, -0.980479, 439.528496;
 0, 0, 0, 1 ];

cHm{8} = [ 0.882627, 0.464153, -0.074379, -69.004995;
 0.410727, -0.838437, -0.358228, -130.690162;
 -0.228635, 0.285632, -0.930667, 463.876598;
 0, 0, 0, 1 ];

cHm{9} = [ 0.761885, 0.531933, -0.369565, -64.594683;
 0.414067, -0.838749, -0.353624, -125.898486;
 -0.498076, 0.116396, -0.859286, 432.729999;
 0, 0, 0, 1 ];

cHm{10} = [ 0.859804, -0.049723, -0.508197, -171.785215;
 0.110353, -0.953633, 0.280010, -80.304039;
 -0.498557, -0.296835, -0.814451, 404.001254;
 0, 0, 0, 1 ];