To rotate your model in three dimensions, you can always make three successive calls to Rotate: oModel->Rotate, [1,0,0], omega oModel->Rotate, [0,1,0], phi oModel->Rotate, [0,0,1], kappa You'll want to make sure that the rotation point for your model is first translated so that it is sitting at the origin of your coordinate system *before* applying the rotations. Then you'll want to translate everything back to where it was. Otherwise, you'll get some really bizarre results. By the way, if you're attempting to use those angles in an attempt to orthorectify an image, that's a far more complex transformational process which is beyond what you can do with a basic rotation matrix. ENVI has the capabilities to do that correctly.