Yes, SPICE is your best bet. The learning curve is steep but worth it.
You can start at the SPICE Required Reading.
and look at the PCK, FK and SPK required reading files. That will lead you to the other required reading files.
You also will need this Frames Kernel (FK)
That is not much guidance, and assumes you are a self-starter, but this is not the place for a tutorial, which will only lead you back to the NAIF/SPICE web site anyway.
That is the C version of that toolkit; versions also exist for FORTRAN, IDL, Matlab (and Octave), Java and Python.
I'm busy but I could gin up a quick example for you if you describe your environment in more detail (what does the display look like and/or emulate; what does the camera look like, where are you getting your shape model from).