Is it possible to extract camera rotation from gyro/accel?

[xphoniex]

I can get the csv file of gyro/accel data from my footage and now I'm trying to re-construct the x,y,z rotation of the camera which was standing on a tripod.

I'm executing the script on only the first frame:

gyro.csv

frame,ts,pitch,roll,yaw
0,0.0004965277777777778,60,-9,10
0,0.0009930555555555556,42,-4,11
0,0.0014895833333333334,40,-5,3
0,0.0019861111111111112,41,-5,6
0,0.0024826388888888893,48,-8,5
0,0.0029791666666666673,58,-19,0
0,0.0034756944444444453,45,-10,3
0,0.003972222222222223,31,-4,14
0,0.004468750000000001,46,-15,6
0,0.004965277777777779,60,-8,6
0,0.005461805555555557,56,1,10
0,0.0059583333333333354,54,-6,8
0,0.0064548611111111135,50,-4,3
0,0.0069513888888888915,57,-9,-2
0,0.0074479166666666695,56,-12,3
0,0.007944444444444447,56,-2,-1
0,0.008440972222222225,57,7,2
0,0.008937500000000003,57,5,2
0,0.00943402777777778,50,1,-4
0,0.009930555555555559,56,6,-3
0,0.010427083333333337,52,5,3
0,0.010923611111111115,57,-3,1
0,0.011420138888888893,44,-9,6
0,0.011916666666666671,42,-2,10
0,0.012413194444444449,41,-2,17
0,0.012909722222222227,48,2,1
0,0.013406250000000005,47,6,6
0,0.013902777777777783,41,-2,14
0,0.014399305555555561,44,2,2
0,0.014895833333333339,46,10,-4
0,0.015392361111111117,52,2,4
0,0.015888888888888893,53,4,7
0,0.01638541666666667,54,-7,-4
0,0.016881944444444446,46,-13,4
0,0.017378472222222222,51,0,-1
0,0.017875,36,12,1
0,0.018371527777777775,39,14,0
0,0.01886805555555555,46,6,5
0,0.019364583333333327,61,-5,6
0,0.019861111111111104,55,1,10
0,0.02035763888888888,44,11,5
0,0.020854166666666656,43,10,2
0,0.021350694444444433,53,7,11
0,0.02184722222222221,54,12,8
0,0.022343749999999985,61,10,7
0,0.02284027777777776,56,10,5
0,0.023336805555555538,64,7,0
0,0.023833333333333314,50,5,-1
0,0.02432986111111109,46,11,5
0,0.024826388888888867,61,9,3
0,0.025322916666666643,53,9,14
0,0.02581944444444442,60,13,4
0,0.026315972222222195,63,9,6
0,0.026812499999999972,66,4,11
0,0.027309027777777748,50,4,9
0,0.027805555555555524,43,3,9
0,0.0283020833333333,53,0,8
0,0.028798611111111077,59,-3,4
0,0.029295138888888853,66,2,4
0,0.02979166666666663,57,15,3
0,0.030288194444444406,46,13,10
0,0.030784722222222182,58,3,10
0,0.03128124999999996,59,3,5
0,0.03177777777777774,64,1,7
0,0.032274305555555514,71,2,5
0,0.03277083333333329,65,4,2
0,0.03326736111111107,50,10,7
0,0.03376388888888884,53,17,11
0,0.03426041666666662,64,16,10
0,0.034756944444444396,56,7,7
0,0.03525347222222217,58,9,3
0,0.03574999999999995,60,11,-1
0,0.036246527777777725,48,6,3
0,0.0367430555555555,51,12,11
0,0.03723958333333328,49,9,8
0,0.037736111111111054,46,10,2
0,0.03823263888888883,42,12,2
0,0.038729166666666606,53,13,2
0,0.03922569444444438,54,1,6
0,0.03972222222222216,53,5,11
0,0.040218749999999935,62,13,7
0,0.04071527777777771,40,21,2
0,0.04121180555555549,37,21,11
0,0.041708333333333264,49,12,4

accel.csv

frame,ts,x,y,z
0,0.0004965277777777778,-8169,-11,-211
0,0.0009930555555555556,-8164,-7,-207
0,0.0014895833333333334,-8145,-4,-217
0,0.0019861111111111112,-8147,4,-228
0,0.0024826388888888893,-8148,-7,-223
0,0.0029791666666666673,-8157,-17,-216
0,0.0034756944444444453,-8167,-29,-216
0,0.003972222222222223,-8151,-41,-216
0,0.004468750000000001,-8152,-20,-217
0,0.004965277777777779,-8164,-17,-210
0,0.005461805555555557,-8162,-30,-204
0,0.0059583333333333354,-8161,-11,-209
0,0.0064548611111111135,-8148,-17,-204
0,0.0069513888888888915,-8144,-21,-211
0,0.0074479166666666695,-8134,-16,-221
0,0.007944444444444447,-8156,-28,-235
0,0.008440972222222225,-8151,-23,-251
0,0.008937500000000003,-8136,-29,-229
0,0.00943402777777778,-8144,-14,-212
0,0.009930555555555559,-8147,-35,-202
0,0.010427083333333337,-8152,-44,-214
0,0.010923611111111115,-8139,-34,-221
0,0.011420138888888893,-8149,-16,-221
0,0.011916666666666671,-8145,-14,-225
0,0.012413194444444449,-8146,-35,-227
0,0.012909722222222227,-8148,-43,-233
0,0.013406250000000005,-8149,-47,-218
0,0.013902777777777783,-8143,-52,-222
0,0.014399305555555561,-8153,-37,-217
0,0.014895833333333339,-8164,-34,-221
0,0.015392361111111117,-8144,-35,-234
0,0.015888888888888893,-8150,-32,-226
0,0.01638541666666667,-8150,-42,-222
0,0.016881944444444446,-8145,-54,-233
0,0.017378472222222222,-8140,-40,-229
0,0.017875,-8138,-45,-202
0,0.018371527777777775,-8146,-51,-224
0,0.01886805555555555,-8154,-47,-244
0,0.019364583333333327,-8152,-59,-212
0,0.019861111111111104,-8161,-38,-202
0,0.02035763888888888,-8146,-44,-221
0,0.020854166666666656,-8144,-63,-233
0,0.021350694444444433,-8161,-52,-226
0,0.02184722222222221,-8157,-44,-227
0,0.022343749999999985,-8165,-33,-221
0,0.02284027777777776,-8166,-18,-217
0,0.023336805555555538,-8158,-43,-200
0,0.023833333333333314,-8164,-58,-204
0,0.02432986111111109,-8157,-45,-236
0,0.024826388888888867,-8144,-61,-230
0,0.025322916666666643,-8153,-59,-226
0,0.02581944444444442,-8150,-47,-227
0,0.026315972222222195,-8147,-61,-227
0,0.026812499999999972,-8138,-64,-234
0,0.027309027777777748,-8155,-75,-230
0,0.027805555555555524,-8171,-81,-225
0,0.0283020833333333,-8152,-72,-234
0,0.028798611111111077,-8140,-74,-243
0,0.029295138888888853,-8136,-64,-247
0,0.02979166666666663,-8144,-68,-240
0,0.030288194444444406,-8163,-54,-214
0,0.030784722222222182,-8152,-57,-209
0,0.03128124999999996,-8139,-76,-208
0,0.03177777777777774,-8166,-85,-214
0,0.032274305555555514,-8164,-80,-228
0,0.03277083333333329,-8155,-73,-226
0,0.03326736111111107,-8128,-71,-223
0,0.03376388888888884,-8151,-70,-213
0,0.03426041666666662,-8149,-83,-220
0,0.034756944444444396,-8138,-87,-221
0,0.03525347222222217,-8160,-66,-225
0,0.03574999999999995,-8162,-80,-195
0,0.036246527777777725,-8158,-86,-204
0,0.0367430555555555,-8161,-92,-219
0,0.03723958333333328,-8153,-99,-220
0,0.037736111111111054,-8151,-81,-221
0,0.03823263888888883,-8142,-88,-225
0,0.038729166666666606,-8149,-95,-215
0,0.03922569444444438,-8156,-86,-201
0,0.03972222222222216,-8157,-85,-189
0,0.040218749999999935,-8144,-84,-203
0,0.04071527777777771,-8146,-84,-215
0,0.04121180555555549,-8147,-90,-212
0,0.041708333333333264,-8154,-89,-223

Too much fluctuation in gyro even in the first frame, and I don't know how to convert accel to x,y,z rotation, or if I'm even looking at the right data to begin with.

Any help appreciated.