2D projection of a textured mesh from a known worldOrientation, worldLocation

The function below, finds the camera position and orientation when the world points and the corresponding image points are known.

[worldOrientation,worldLocation] = estimateWorldCameraPose(imagePoints,worldPoints,cameraParams);

My camera looks at a textured mesh. After finding the worldOrientation and the worldLocation of the camera, I want to make an image of what the camera sees at this position. The image should show a 2D view of the textured mesh.

Is there any function which can help to display this 2D projection image?

[Beril Sirmacek]

pcshow(data.worldPoints,'VerticalAxis','Y','VerticalAxisDir','down', ...
     'MarkerSize',30);
 hold on
 plotCamera('Size',10,'Orientation',worldOrientation,'Location',...
     worldLocation);
 hold off

In other words, the sample code generates the illustrated output. When the camera Orientation and Location are known, how can I make an image of what camera sees? Assuming that there are textured meshes in the scene as well.