Infused and essential
An infused oil is the plant soaked in a carrier, so it carries a little of the plant's scent. An essential oil is distilled from the plant and is far stronger, which is why it is measured in drops.
You cannot distil rosemary at home in any useful way, so this page does not give a method for it. If you are looking up how to make rosemary oil for hair, the infused oil below is what you can make; how people use it is on the page about rosemary oil for hair.