#[ 0.24136077  0.07089735 -0.0252355   0.05194225 -1.57151119  3.17973722]
def buildCalibPose(x):
    Rx = np.matrix(np.array([
        [1, 0, 0],
        [0, cos(x[3]), -sin(x[3])],
        [0, sin(x[3]), cos(x[3])]
    ]))
    Ry = np.matrix(np.array([
        [cos(x[4]), 0, sin(x[4])],
        [0, 1, 0],
        [-sin(x[4]), 0, cos(x[4])]
    ]))
    Rz = np.matrix(np.array([
        [cos(x[5]), -sin(x[5]), 0],
        [sin(x[5]), cos(x[5]), 0],
        [0, 0, 1]
    ]))
    tempM = np.matmul(Rz, Ry)
    M = np.matmul(tempM, Rx)
    tempM = np.matrix(M)
    tempxyzCam = np.matrix(xyzCam)
    R = np.matmul(tempM, tempxyzCam)
    R[0] = R[0] + x[0]
    R[1] = R[1] + x[1]
    R[2] = R[2] + x[2]
    return R