How to interpolate continuous 3d graph from discrete data?

I don't know if this is exactly possible but would appreciate any and all input. I have discrete 3d data (4d possibly?) where at exact 3d intervals an intensity is measured. So my Matrix looks like:

[x1, y1, z1, intensity1; x2, y2, z2, intensity2; ...]

These measurements are taken at regular intervals so if there was 1 unit cube there would be 8 measurements for each node forming a cube.

I can easily graph these points as simple scatter points with a color showing intensity, but I would like to graph this as a continuous field interpolated from the data points. Is this easily possible?

I have coded in matlab a decent amount before but have never needed to do 3D modeling yet alone 3D with color coded intensity. Sorry if this kind of question has been answered before, I looked but could not find anything.