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Eigen::Vector3d P1,P2,P3,v_temp,v_x,v_y,v_z,v_z_1,v_y_1;
P1<<0,0,0;
P2<<0.5,0,0;
P3<<0.5,-1.5,0;

v_temp=(P2 - P1) / (P2 - P1).norm();
v_x = (P3 - P2) / (P3 - P2).norm();

v_z =v_temp.cross(v_x);
v_z.normalize();
v_y=v_z.cross(v_x);