RealityCapture CSV: exact definition of Roll/Pitch/Yaw (axis, order, intrinsic or extrinsic?)

Development Asset Creation
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Hi,

I am working with camera CSV export from RealityScan / RealityCapture and trying to correctly interpret the rotation values (Roll, Pitch, Yaw / Heading).

I would like to clarify the exact definition of the rotation convention:

  1. Are Roll, Pitch, Yaw defined as intrinsic (body-fixed) rotations or extrinsic (world-fixed) rotations?

  2. What is the exact axis definition in the project coordinate system?

    • Which axis is Roll rotation applied around?
    • Which axis is Pitch rotation applied around?
    • Which axis is Yaw/Heading rotation applied around?

  3. What is the rotation order?
    (I saw documentation mentioning ZYX order evaluated from right to left, but I want to confirm implementation)

  4. Is the coordinate system NED (North-East-Down) always assumed for these angles, or does it depend on the project coordinate system setting?

Example:
CSV: x, y, z, heading, pitch, roll

I want to understand exactly how a positive yaw/pitch/roll rotates the camera in 3D space (direction of rotation when looking along the axis).

Thanks