Debug version that runs, computes plane-plane interesections and keeps only intersections
of quasi-orthogonal planes in a structure. I must now analyze two clouds, perform the analysis,
assume the camera is more or less horizontal so the largest y component is along the verticla line.
The assumption is that the plane-plane intersections of the largest planes are alined with the
edges formed by wall-wall intersection in a prismatic room.

TODO: compare results with two images.
TODO: run analysis with less points
TODO: how to make use of the RGB image file.