 			}
 
 			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){

	int i = 0;
	double *tracker;
	for (i = 0, tracker = (im2 + 2); i < im2_len; tracker += 3, ++i){
		if (*tracker == char1){
			index1_im2 = i;
		} else if (*tracker == char2){
			index2_im2 = i;
		}
	}

	if (count_within_epsilon < threshold)
		return;


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