From 97f257e575e5de5557afdb0e1cd7a2c7492f56d2 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 9 Nov 2014 07:08:50 +0100
Subject: Revert "fix typos"

This reverts commit e74f029bf790342b1d3e0f11e5edf98c16946b08.
---
 opentrack/tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'opentrack')

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});
-- 
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