How to show and work with a 3D image from the Bosphorus database (or a similar database) - Starting from a Nx(3+2) matrix from a range sensor

Best

I've the problem that I don't know how to use the Bosphorus data. First of all, my final goal is, to create a 3D face recognition system from the Bosphorus database.

This Bosphorus database provides me the following data

• images of a human faces (.png)
• landmarks of a human faces [Person X - Outer left eyebrow : -91.623 7.905 -83.9 ... ]
• an Nx5 matrix

And that its basicly everything.

But before I go further, here is the description of the Nx5 Matrix :

% Date:   2008
% Outputs:
%   zmin      : minimum depth value denoting the background        | =  -1000000           
%   nrows     : subsampled number of rows                          | =   229
%   ncols     : subsampled number of columns                       | =   188
%   imfile    : image file name
%   data      : Nx5 matrix where columns are 3D coordinates and 2D |  N = 43052 
%   normalized image coordinates respectively. 2D coordinates are
%   normalized to the range [0,1]. N = nrows*ncols. In this matrix, values
%   that are equal to zmin denotes the background.

-1000000000  -1000000000  -1000000000  0,995567  0,003639
-1000000000  -1000000000  -1000000000  0,990248  0,003639
-1000000000  -1000000000  -1000000000  0,984929  0,003639
...          ...          ...          ...       ...

And now the real question: How do I handle this data ?

First of all, how do I create an 3D image like in the following image by this data?

Secondly, the Bosphorus data is normalized. But the landmarks are not. How can I plot, use, anker, refer the landmark points on that 3D image?

Third, How can I calculate the geodesic distance between 2 points from the 3D image? E.g. the geodesic distance between two landmarks (shortest path, Dijkstra). Thus how do I hop from the one to another.

And that is basicly it. I've tried a lot of papers but all of them starts with the given 3D image even though they use the Bosphorus database or a similar one.

I hope that someone can help me, everything is welcome

Kind regards

Dieter

(btw, I'm using matlab & I'm not an expert)