code: def decide_pose(pose):
      """
      Args:
          pose: np.array (4, 4)
      Returns:
          index: int (0, 1, 2, 3)
          for upright, left, upside-down and right
      """
      # pose style
      z_vec = pose[2, :3]
      z_orien = np.array(
          [
              [0.0, -1.0, 0.0],  # upright
              [-1.0, 0.0, 0.0],  # left
              [0.0, 1.0, 0.0],  # upside-down
              [1.0, 0.0, 0.0],
          ]  # right
      )
      corr = np.matmul(z_orien, z_vec)
      corr_max = np.argmax(corr)
      return corr_max
  
imports: import cv2
  import numpy
  from utils.tenFpsDataLoader import TrajStringToMatrix
label_desc: Use image node_id 1 for calling a global function with example usage: decide_pose(pose) and returns: corr_max