Removing hidden polygons when rendering a 3D object

hallo!

I have the following problem: I have a 3D (non-convex) object, represented as a mesh, and I have a camera (with intrinsic and extrinsic parameters) and I want to find out, which faces will be visible from the camera (for example, as a set of face indices). I need it not for renderng, so I cannot use standard MATLAB cababities (hidden off\on) for that. Any help will be deeply appreciated!