1. A method of determining a mathematical transformation to place three-dimensional (3D) coordinates of points measured by an articulated arm coordinate measurement machine (AACMM) and 3D points measured by a scanner in a common coordinate system, the method comprising: providing the AACMM having a manually positionable arm portion having an opposed first end and second end, the first end attached to a base, the arm portion including a plurality of connected arm segments, each arm segment including at least one position transducer for producing a position signal, the second end having a probe end with a probe arranged thereon, the AACMM having a first controller configured to determine a 3D coordinate of the probe in response to the position signals, the AACMM having a AACMM coordinate system fixed with respect to the base; providing the scanner having a light projector and at least one camera, the light projector and the at least one camera arranged in a fixed geometric relationship, the light projector configured to project a structured light pattern, the scanner having a second controller configured to determine 3D coordinates in response to receiving the structured light pattern with the at least one camera, the scanner having a scanner coordinate system fixed with respect to the base; arranging three targets proximate an object to be measured, the three targets each having a reference point, the three reference points being non-collinear; measuring with the probe a first plurality of 3D coordinates of each of three targets; determining, for each of the three targets, 3D probe reference coordinates, the probe reference coordinates being 3D coordinates of the reference point of the target based at least in part on the first plurality of measured 3D coordinates of the target; measuring with the scanner a second plurality of 3D coordinates of each of three targets; determining, for each of the three targets, 3D scanner reference coordinates, the 3D scanner reference coordinates being 3D coordinates of the reference point of the target based at least in part on the second plurality of measured 3D coordinates of the target; determining the mathematical transformation based at least in part on the 3D probe reference coordinates and the 3D scanner reference coordinates, the mathematical transformation characterized at least in part by a collection of parameters; and storing the collection of parameters.