Ive found the solution.
The problem described is also known as Gimbbal Lock. See here and here.
For me the solution can be found here and is the trivial sentence:
Using the camera (Y axis along the camera's axis) for an augmented reality application where the rotation angles are needed: remapCoordinateSystem(inR, AXIS_X, AXIS_Z, outR);
This way I can do what I want to do because the Gimbbal Lock is lying in a position where it doesnt argue me.