This transformation is also known as 7-parameter transformation. It transfers points from one 3-dimensional coordinate system to another. It is applied in the process of reducing GPS survey data, and also in photogrammetry. The 7 parameters involved are: three rotations, three translations and a scale factor. The rotation matrix is constructed by three consecutive rotations round X,Y,Z axes. At least three pairs of points are necessary.
TcpMDT
