Readme added to pcl-color with screenshot, grammar fix

wrappers/pcl/pcl-color/readme.md

@@ -0,0 +1,6 @@
+# rs-pcl-color Sample
+
+## Overview
+This example provides color support to PCL for Intel RealSense cameras. The demo will capture a single depth frame from the camera, convert it to `pcl::PointCloud` object and perform basic `PassThrough` filter, but will capture the frame using a tuple for RGB color support. All points that passed the filter (with Z less than 1 meter) will be removed with the final result in a Captured_Frame.pcd ASCII file format. Below is an example of the final output.
+
+<p align="center"><img src="res/5.PNG" /></p>

wrappers/pcl/pcl-color/rs-pcl-color.cpp

@@ -181,7 +181,7 @@ int main() {
     if (depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED))
     {
         depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 1.f); // Enable emitter
-        //depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.f); // Disable emitter
+        depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.f); // Disable emitter
     }
     if (depth_sensor.supports(RS2_OPTION_LASER_POWER))
     {
@@ -219,6 +219,16 @@ int main() {
 
         // Convert generated Point Cloud to PCL Formatting
         cloud_pointer cloud = PCL_Conversion(points, RGB);
+
+        //========================================
+        // Filter PointCloud (PassThrough Method)
+        //========================================
+        pcl::PassThrough<pcl::PointXYZRGB> Cloud_Filter; // Create the filtering object
+        Cloud_Filter.setInputCloud (cloud);           // Input generated cloud to filter
+        Cloud_Filter.setFilterFieldName ("z");        // Set field name to Z-coordinate
+        Cloud_Filter.setFilterLimits (0.0, 1.0);      // Set accepted interval values
+        Cloud_Filter.filter (*newCloud);              // Filtered Cloud Outputted
+
         cloudFile = "Captured_Frame" + to_string(i) + ".pcd";
 
         //==============================

wrappers/pcl/pcl/readme.md

@@ -1,5 +1,5 @@
 # rs-pcl Sample
 
 ## Overview
-This example is a "hello-world" code snippet for Intel RealSense cameras integration with PCL. The demo will capture a single depth frame from the camera, convert it to `pcl::PointCloud` object and perform basic `PassThrough` filter. All points that passed the filter (with Z less then 1 meter) will be marked in green while the rest will be marked in red. 
+This example is a "hello-world" code snippet for Intel RealSense cameras integration with PCL. The demo will capture a single depth frame from the camera, convert it to `pcl::PointCloud` object and perform basic `PassThrough` filter. All points that passed the filter (with Z less than 1 meter) will be marked in green while the rest will be marked in red.