6 Parameter

Based on the Helmert family of transformations, the 6 Parameter transformation is very similar to a 7 Parameter CFR transformation, except it does not contain a scale parameter.

Parameters needed to define a 6 Parameter transformation are:

Parameter	Often Noted as
X Translation	dX
Y Translation	dY
Z Translation	dZ
X Rotation	rX
Y Rotation	rY
Z Rotation	rZ