 			}
 
 			if (matches >= RANSAC_MIN_MATCHES) {
-				/*theta = ransac_angle(vectors, matches);
-				if (theta == RANSAC_NO_ANGLE_FOUND){
-					continue;
-				}
-				ransac_translation(vectors, matches, translation);
-				if (translation[0] == RANSAC_NO_TRANS_FOUND){
-					continue;
-				}*/
-
 				ransac_full(vectors, matches, matrix);
 
 				if (matrix[0] == TRANSFORM_DEFAULT_VALUE){

__host__ void ransac_full(double(*vectors)[VECTOR_LENGTH], int length, double *result){
	assert(length <= RANSAC_MAX_MATCHES);

/*	double theta[RANSAC_MAX_MATCHES];
	double t1[RANSAC_MAX_MATCHES];
	double t2[RANSAC_MAX_MATCHES];

	double	theta_running = 0,
					t1_running = 0,
					t2_running = 0;*/

	/* get local copy of vector pointers */
	double **local_vectors = (double **) malloc(sizeof(double*) * length);


	if (count_within_epsilon < threshold)
		return;


	/* SUCCESS! */
	for (int i = 0; i < 9; i++){
