3d Transformation

Got a 3d algorithmns question. Algorithmn will be implemented in python, so a library would be great if it works on windows. Basically my function would be defined as such.

Problem is one of coordinate transformation. Give a 3d vector, which reprents the +z axis in the source coordinate system, and a rotation value around that axis for determinging the x and y axises, I wish to translate a point from that geometry into "world" geometry, or in other words absolute coordinates. Input data is a 3d path with banking data that will be sampled at regular points for purposes of building other geometry.

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