I. Introduction
Owing to the abundant spectrum resources, millimeter wave (mmWave) communication can support gigabit-per-second data rates and is regarded as one of the most promising technologies for future wireless communication systems [1]. However, due to the severe path losses in the mmWave band, the beamforming gains of large antenna arrays are required to improve signal power. To reduce the implementation complexity, beamformers are usually selected from a predefined codebook [2], [3].