1. vector3f ——> rotation matrix
Eigen::Matrix3f rotationCalculation(Eigen::Vector3f vectorBefore, Eigen::Vector3f vectorAfter)
{
Eigen::Vector3f rotationAxis;
double rotationAngle;
Eigen::Matrix3f rotationMatrix;
rotationAxis = CrossProduct(vectorBefore, vectorAfter);
rotationAngle = acos(DotProduct(vectorBefore, vectorAfter) / Normalize(vectorBefore) / Normalize(vectorAfter));
rotationMatrix = RotationMatrix(rotationAngle, rotationAxis);
return rotationMatrix;
}