Added separate class for cloud decoration (highlighting), normal estimation and surface segmentation.
Now using CloudDecorator, clean up the mouseCallbacks further
Added 3 classes

FurniturePiece, FurniturePiecePosition and Surface were added.
Will now incorporate Surface class into SurfaceSegmenter.
Finished integration of Surface class.

The Furnish class now uses a std::vector<Surface> instead of
std::vector<pcl::PointIndices::Ptr> to keep track of detected
surfaces.