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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp2
-rw-r--r--opentrack/tracker.cpp2
2 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 6248b225..a76fdb78 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -175,7 +175,7 @@ void Tracker::data(THeadPoseData *data)
// extract rotation angles
float alpha, beta, gamma;
- beta = atan( -R(2,0) / sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ beta = atan( -R(2,0) / (sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2))) );
alpha = atan( R(1,0) / R(0,0));
gamma = atan( R(2,1) / R(2,2));
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 89a2ada6..f5658503 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -52,7 +52,7 @@ double Tracker::map(double pos, bool invertp, Mapping& axis)
static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R)
{
// don't use atan2 here, confuses quadrants. see issue #63 -sh
- double pitch = atan( -R(0, 2) / sqrt(R(1,2)*R(1,2) + R(2,2)*R(2,2)) );
+ double pitch = atan( -R(2,0) / (sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2))) );
double roll = atan(R(1, 2) / R(2, 2));
double yaw = atan(R(0, 1) / R(0, 0));
return dmat<3, 1>({yaw, pitch, roll});