refactor: use ids instead of costly nearest neighbor
refactor: use ids instead of costly nearest neighbor

oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,mapillary/OpenSfM,mapillary/OpenSfM,mapillary/OpenSfM,oscarlorentzon/OpenSfM,mapillary/OpenSfM,mapillary/OpenSfM