ipimat_to_imgs.m

function [  ] = ipimat_to_imgs( filename, out_folder, prefix, w, h, thres )
%IPIMAT_TO_IMGS Summary of this function goes here
%   Detailed explanation goes here


input = load(filename);

mkdir(out_folder);

for f=1:length(input.DepthFrame)
   p = pcframe_to_imframe2(input.DepthFrame(f).DepthPoints, w,h, thres);
   imwrite(p, [out_folder, '/',prefix,'-', num2str(f) ,'.png']);
end
end

pcframe_to_imframe.m

function [ OUT ] = pcframe_to_imframe( IN , width, height, thres)
%PCFRAME_TO_IMFRAME Summary of this function goes here
%   Detailed explanation goes here

num_points = size(IN.x,1);

OUT = zeros(width, height, 3);

for f=1:num_points
   x = min(ceil((IN.x(f) + 3 )/6.0 * width), width);
   y = height - min(ceil((IN.y(f) + 1.5 )/5.0 * height), height);
   z = min(ceil((IN.z(f) + 3 )/6.0 * 255), 255);
   
   if (z > thres)       
       rgb = hsv2rgb(z/255, 1, 1);
       
       OUT(max(y,1), max(x,1), 1) = rgb(1,1,1)*4;
       OUT(max(y,1), max(x,1), 2) = rgb(1,1,2)*4;
       OUT(max(y,1), max(x,1), 3) = rgb(1,1,3)*4;
   end     
end

OUT = imgaussfilt(OUT, 0.8);

end

pcframe_to_imframe2.m

function [ OUT ] = pcframe_to_imframe( IN , width, height, thres)
%PCFRAME_TO_IMFRAME Summary of this function goes here
%   Detailed explanation goes here

num_points = size(IN.x,1);

OUT = zeros(width, height, 3);

% 512x524

for f=1:num_points
   x = min(ceil((IN.x(f) + 3 )/6.0 * width), width);
   y = height - min(ceil((IN.y(f) + 3 )/6.0 * height), height);
   z = min(((IN.z(f) + 3 )/6.0), 3);
   
%    z = 1-z;
   
   r=0;
   g=0;
   b=0;
   
   
   b = min(max(z * 3, 0), 1);   
   g = min(max((z - 1/3) * 3, 0), 1);
   r = min(max((z - 2/3) * 3, 0), 1);
   
   OUT(max(y,1), max(x,1), 1) = r;
   OUT(max(y,1), max(x,1), 2) = g;
   OUT(max(y,1), max(x,1), 3) = b;
end


OUT = OUT(50:end-150, 50:end-50, :);


end