cHm{1} = [ -0.999705, -0.021727, -0.010840, 150.406727;
 -0.018901, 0.976592, -0.214269, 78.854375;
 0.015242, -0.214001, -0.976715, 396.633719;
 0, 0, 0, 1 ];

cHm{2} = [ -0.933571, -0.322540, -0.156248, 85.758093;
 -0.279721, 0.928303, -0.244969, 72.805069;
 0.224058, -0.184990, -0.956858, 361.397534;
 0, 0, 0, 1 ];

cHm{3} = [ -0.386291, -0.921187, 0.046847, -28.094834;
 -0.849239, 0.335381, -0.407815, 96.634092;
 0.359962, -0.197320, -0.911862, 353.077881;
 0, 0, 0, 1 ];

cHm{4} = [ 0.287729, -0.949119, 0.128008, -67.480641;
 -0.869444, -0.314914, -0.380652, 53.748822;
 0.401595, -0.001771, -0.915816, 378.115863;
 0, 0, 0, 1 ];

cHm{5} = [ -0.944002, -0.229884, -0.236670, 94.832237;
 -0.293808, 0.912081, 0.285980, 94.005480;
 0.150120, 0.339502, -0.928549, 340.481546;
 0, 0, 0, 1 ];

cHm{6} = [ -0.901239, -0.361482, 0.238956, 120.079048;
 -0.301736, 0.919303, 0.252663, 111.843609;
 -0.311005, 0.155608, -0.937583, 448.104111;
 0, 0, 0, 1 ];

cHm{7} = [ -0.840104, 0.498038, 0.214903, 115.808646;
 0.464863, 0.865217, -0.187886, -16.675979;
 -0.279512, -0.057943, -0.958392, 459.302688;
 0, 0, 0, 1 ];

cHm{8} = [ -0.307471, 0.951515, 0.008980, 117.910745;
 0.869241, 0.284700, -0.404185, -87.230167;
 -0.387145, -0.116470, -0.914633, 442.163601;
 0, 0, 0, 1 ];

cHm{9} = [ -0.021374, 0.999001, 0.039258, 112.076375;
 0.895059, 0.036615, -0.444440, -114.523583;
 -0.445434, 0.025640, -0.894948, 403.372793;
 0, 0, 0, 1 ];

cHm{10} = [ -0.961426, -0.159487, 0.224108, 147.974141;
 -0.220772, 0.933410, -0.282852, 87.644206;
 -0.164073, -0.321418, -0.932615, 416.116662;
 0, 0, 0, 1 ];