So, the line described by the parametric description (-1.9053, 2.0556, - 0.3853) + k*(- 0.4347, - 0.5382,
- 0.7221) corresponds to the axis of rotation of the original transformation. Points that lie on this line are translated
- 0.5382, - 0.7221), which is to say, translated 2.6490 units along x 3.2802 units along y, and 4.4004 units along z. The geometric description can be restated in matrix format:
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