1. A method for generating output images, comprising: acquiring a sequence of input images of an object; generating a set of point samples representing the object from the sequence of input images, in which each point sample has 3D coordinates and intensity information; rendering the set of point samples as a sequence of output image of the object; modifying the set of point samples according the sequence of input images; and repeating the rendering and modifying as long as the sequence of input images are acquired.