diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h
index 6087a1433..7e7c2c60a 100644
--- a/Eigen/src/Geometry/EulerAngles.h
+++ b/Eigen/src/Geometry/EulerAngles.h
@@ -48,6 +48,7 @@ template<typename Derived>
 inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
 MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
 {
+  /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
 
   Matrix<Scalar,3,1> res;
@@ -62,7 +63,6 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
   if (a0==a2)
   {
     Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
-
     res[1] = std::atan2(s, coeff(i,i));
     if (s > epsilon)
     {
@@ -72,13 +72,12 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
     else
     {
       res[0] = Scalar(0);
-      res[2] = std::atan2(-coeff(k,j), coeff(j,j));
+      res[2] = (coeff(i,i)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j));
     }
   }
   else
   {
     Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
-
     res[1] = std::atan2(-coeff(i,k), c);
     if (c > epsilon)
     {
@@ -88,7 +87,7 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
     else
     {
       res[0] = Scalar(0);
-      res[2] = -std::atan2(-coeff(k,j), coeff(j,j));
+      res[2] = (coeff(i,k)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j));
     }
   }
   if (!odd)
diff --git a/test/geometry.cpp b/test/geometry.cpp
index af23bce82..97782213b 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -320,7 +320,9 @@ template<typename Scalar> void geometry(void)
   VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
 
   m = q1;
-
+//   m.col(1) = Vector3(0,ei_random<Scalar>(),ei_random<Scalar>()).normalized();
+//   m.col(0) = Vector3(-1,0,0).normalized();
+//   m.col(2) = m.col(0).cross(m.col(1));
   #define VERIFY_EULER(I,J,K, X,Y,Z) { \
     Vector3 ea = m.eulerAngles(I,J,K); \
     Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \