Efficient way to find intersection of two vectors with respect to two members of vector objects

I have two vectors holding data objects. Each data object is holding coordinates and some other data. The vectors will always be sorted (first for the x coordinates and then for the y coordinates). I'm trying to delete all objects from both vectors that have coordinates that can not be found in both of the vectors. Here's an MWE of what I'm currently doing:

#include <iostream>
#include <vector>
#include <algorithm>


struct foo{
  foo()=default;
  foo(int x, int y, double data):x(x),y(y),data(data){}
  int x;
  int y;
  double data;
};

int main()
{
  std::vector<foo> vec1=std::vector<foo>(7);
  std::vector<foo> vec2=std::vector<foo>(4);

  vec1={foo(1,1,0.),foo(1,2,0.),foo(2,1,0.),foo(2,2,0.),foo(2,3,0.),foo(3,1,0.),foo(3,2,0.)};
  vec2={foo(1,2,0.),foo(1,3,0.),foo(2,1,0.),foo(3,1,0.)};

  for(auto it1=vec1.begin(); it1!=vec1.end();){
    auto cur_element=*it1;
    auto intersec = std::find_if(vec2.begin(),vec2.end(),[cur_element]
                                       (foo & comp_element)->bool{
        return((cur_element.x==comp_element.x) && (cur_element.y==comp_element.y));
  });
    if(intersec==vec2.end()) it1=vec1.erase(it1);
    else ++it1;

  }

  for(auto it2=vec2.begin(); it2!=vec2.end();){
    auto cur_element=*it2;
    auto intersec = std::find_if(vec1.begin(),vec1.end(),[cur_element]
                                       (foo & comp_element)->bool{
        return((cur_element.x==comp_element.x) && (cur_element.y==comp_element.y));
  });
    if(intersec==vec1.end()) it2=vec2.erase(it2);
    else ++it2;
  }

  std::cout<<"vec1:\n";
  for(auto i: vec1) std::cout<<i.x<<" "<<i.y<<"\n";
  std::cout<<"\nvec2:\n";
  for(auto i: vec2) std::cout<<i.x<<" "<<i.y<<"\n";

  return 0;
}

It works and gives me the expected output.
Anyway it seems really unefficient having to loop through both of the vectors. Is there a more efficient way to achieve the same output?