The templated code went into an dedicated .hpp file.
Helped functions to talk about themself.
Start the REFACTORIG REVOLUTION
Bye to publishPointCloud( ... ) function.
Got rid of
  publishPlanarSurfacePointCloud ( ... )
  publishCylindricalSurfacePointCloud ( ... )
Say bye to a lot of useless variables
publishVolumeOfInterest ( ... ) replaced by displayVolumeOfInterestInRviz ( ... )
 - refactoring
Get rid of commented code.