From: A dual quaternion algorithm of the Helmert transformation problem
\(t_{x}\) (m)
\(t_{y}\) (m)
\(t_{z}\) (m)
\(\theta_{x}\) (°)
\(\theta_{y}\) (°)
\(\theta_{z}\) (°)
\(\lambda\)
20
10
30
32
77
63
1.000039