If you plan to do some 3D visualization, then you should look at some of the libraries. I know there were a couple of wrappers for OpenGL. I seem to recall Squeak had Croquet, which had 3d visualization. Often these 3D visualization tools have some analysis tools too, including segmentation, etc. And of course, you will find all the standard vector methods in any of these libraries.
You didn't mention visualization, but if you have 3d data... ... it seems like you will find �a use for it.�
Good Luck,
Cam