 	if (count_within_epsilon < threshold)
 		return;
 
-	/*double	theta_avg	= theta_running / length,
-					t1_avg 		= t1_running / length,
-					t2_avg 		= t2_running / length;
-
-	printf("T: %f; 1: %f; 2: %f\n", theta_avg, t1_avg, t2_avg);
-	int threshold_theta = RANSAC_ANGLE_THRESHOLD*(length - 1) + 1,
-			threshold_t1		= RANSAC_TRANS_THRESHOLD*(length - 1) + 1,
-			threshold_t2		= threshold_t1;
-*/
-	/* check thetas agree */
-	/*int count_within_epsilon = 0;
-	for(int i = 0; count_within_epsilon < threshold_theta && i < length; ++i){
-		if (abs(theta[i] - theta_avg) < RANSAC_ANGLE_EPSILON)
-			count_within_epsilon++;
-	}
-
-	if (count_within_epsilon < threshold_theta)
-		return;
-	*/
-	/* check t1 agree */
-	/*count_within_epsilon = 0;
-	for(int i = 0; count_within_epsilon < threshold_t1 && i < length; ++i){
-		if (abs(t1[i] - t1_avg) < RANSAC_TRANS_EPSILON)
-			count_within_epsilon++;
-	}
-
-	if (count_within_epsilon < threshold_t1)
-		return;
-	*/
-	/* check t2 agree */
-	/*count_within_epsilon = 0;
-	for(int i = 0; count_within_epsilon < threshold_t2 && i < length; ++i){
-		if (abs(t2[i] - t2_avg) < RANSAC_TRANS_EPSILON)
-			count_within_epsilon++;
-	}
-
-	if (count_within_epsilon < threshold_t2)
-		return;
-*/
 
 	/* SUCCESS! */
 	for (int i = 0; i < 9; i++){

			}

			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){


	/* randomly select vector to use as reference */
	int tmp_move = rand() % length;
	
	#ifdef DEBUG
	printf("SWAP: %d\n", tmp_move);
	#endif

	double *tmp = local_vectors[0];
	local_vectors[0] = local_vectors[tmp_move];
	local_vectors[tmp_move] = tmp;
