Haggrén - 5 
Absolute Orientation. The absolute orientation is used for determining the final coordinate 
transformation of the model coordinates to the external datum like the one of the local coordinate system 
or of the design model. It includes seven parameters like three shifts, three rotations and one scaling. 
In the case of projectively transformed 3-D model the number of parameters is 15. These can be e.g. three 
shifts, three scales, and 3x3 rotations.