Refactoring

[Razlaw]

By now at least a basic form refactoring and clean up seems necessary.
The indentation switches from method to method + there are some unused method or methods formerly used for testing within the view controller class.

I tried to change as little as possible of the original code when adding the functionality necessary for the rviz_cinematographer to keep the PRs concise.

I can help with the basic refactoring if you want to.