def segmentDoorPlane(polyData, doorPoint, stanceFrame):

    doorPoint = np.array(doorPoint)
    doorBand = 1.5

    polyData = cropToLineSegment(polyData, doorPoint + [0.0,0.0,doorBand/2], doorPoint - [0.0,0.0,2/doorBand])
    fitPoints, normal = applyLocalPlaneFit(polyData, doorPoint, searchRadius=0.2, searchRadiusEnd=1.0, removeGroundFirst=False)

    updatePolyData(fitPoints, 'door points', visible=False, color=[0,1,0])

    viewDirection = SegmentationContext.getGlobalInstance().getViewDirection()
    if np.dot(normal, viewDirection) > 0:
        normal = -normal

    origin = computeCentroid(fitPoints)
    groundHeight = stanceFrame.GetPosition()[2]
    origin = [origin[0], origin[1], groundHeight]

    xaxis = -normal
    zaxis = [0,0,1]

    yaxis = np.cross(zaxis, xaxis)
    yaxis /= np.linalg.norm(yaxis)
    xaxis = np.cross(yaxis, zaxis)
    xaxis /= np.linalg.norm(xaxis)

    t = getTransformFromAxes(xaxis, yaxis, zaxis)
    t.PostMultiply()
    t.Translate(origin)

    return t
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/segmentation.py/segmentDoorPlane/swapped operands of `/`