How to filter and plot a PointCloud into an occupancy grid?

Hello everybody,

I took a pointcloud with a Xbox Kinect and transformed it into world coordinates.

This is the code I used:

%The forward mapping is the composition of T1, T2, and T3.
T = T4 * T3 * T2

tform = affine3d(T)

%Transformation
ptCloud = pointCloud(xyzPoints)
ptCloudIn = ptCloud
ptCloudOut = pctransform(ptCloudIn,tform)

% showPointCloud(ptCloudOut, 'VerticalAxis', 'Y', 'VerticalAxisDir', 'up');
%   xlabel('X (m)');
%   ylabel('Y (m)');
%   zlabel('Z (m)');

You can see the Pointcloud in the picture.

Now I want to filter out all points that are 0 and higher than 1,5 in Z. Then I want to plot the pointcloud into an 2D occupancy grid. I am using 2015a and don't have the robotics toolbox.

I am new in MATLAB, so it would be nice if you can describe in detail.

Thank you very much!

Lucca