How can I divide the Eigen::matrix by Eigen::vector?

following is my code.

Eigen::Matrix3d first_rotation = firstPoint.q.matrix();
Eigen::Vector3d first_trans= firstPoint.t;
for(auto &iter:in_points )
{
            
            iter.second.t= first_rotation / (iter.second.t-first_trans).array();
}

However,the vscode says"no operator / matches the operands" for division." How can I division a matrix by a vector?