The relation
The different methods use a different number of parameters for defining r
The number depends on how stringent the constraints for being consistent is defined, i.e. given two sticks, how many parameters are needed for describing the ”structural relation” between them? (means changing the value of one of the parameters might change the (sub)structure)
Checking for consistency using transformation use 6 parameters, hence 6 should be enough. Usually one angle and 2-4 distances are used