46// for(std::set<unsigned>::iterator it = pPBM->vPlanes[refPlaneId].nearbyPlanes.begin(); it != pPBM->vPlanes[refPlaneId].nearbyPlanes.end(); it++)
47// subgraphPlanesIdx.insert(*it);
48
49// Add neighbors co-visible neighbors
50for(std::map<unsigned,unsigned>::iterator it = pPBM->vPlanes[refPlaneId].neighborPlanes.begin(); it != pPBM->vPlanes[refPlaneId].neighborPlanes.end(); it++)