Revert "fix typos"

This reverts commit e74f029bf790342b1d3e0f11e5edf98c16946b08.

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 a76fdb78..6248b225 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 e856b5b2..b464dffe 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(2,0) / (sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2))) );
+    double pitch = atan( -R(0, 2) / sqrt(R(1,2)*R(1,2) + 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});