def computeCornerFrame(aff, referenceFrame):

    refAxis = [0.0, -1.0, 0.0]
    referenceFrame.TransformVector(refAxis, refAxis)

    refAxis = np.array(refAxis)

    axes = [np.array(aff.params[axis]) for axis in ['xaxis', 'yaxis', 'zaxis']]
    edgeLengths = [edgeLength for edgeLength in ['xwidth', 'ywidth', 'zwidth']]

    axisProjections = np.array([np.abs(np.dot(axis, refAxis)) for axis in axes])
    boardAxis = axes[axisProjections.argmax()]
    if 0 < np.dot(boardAxis, refAxis):
        boardAxis = -boardAxis

    longAxis = axes[np.argmax(edgeLengths)]

    xaxis = boardAxis
    yaxis = axes[2]
    zaxis = np.cross(xaxis, yaxis)

    closestCorner = computeClosestCorner(aff, referenceFrame)
    cornerFrame = getTransformFromAxes(xaxis, yaxis, zaxis)
    cornerFrame.PostMultiply()
    cornerFrame.Translate(closestCorner)
    return cornerFrame
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/segmentation.py/computeCornerFrame/swapped operands of `<`