Resolve "Add method for vector rotation for converting to world coordinate system"

Implemented requested method and added unit tests for it.

Closes #327 (closed)

tests/unit_test/tst_extrCalibration.cpp

@@ -119,7 +119,12 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
         control->setCalibExtrRot2(-2);
         control->setCalibExtrRot3(1.1);
 
-        REQUIRE(cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 1, 1)) - cv::Vec3d(0.2, -0.63, -1.6)) == Approx(0).margin(VEC_MARGIN));
-        REQUIRE(cv::norm(calib->camToWorldRotation(cv::Vec3d(1, -2, 3)) - cv::Vec3d(1.69, -3.33, 0.27)) == Approx(0).margin(VEC_MARGIN));
+        REQUIRE(
+            cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 1, 1)) - cv::Vec3d(0.2, -0.63, -1.6)) ==
+            Approx(0).margin(VEC_MARGIN));
+
+        REQUIRE(
+            cv::norm(calib->camToWorldRotation(cv::Vec3d(1, -2, 3)) - cv::Vec3d(1.69, -3.33, 0.27)) ==
+            Approx(0).margin(VEC_MARGIN));
     }
 }