Question About p.get/setDebugVisualizerCamera and changing the target position

[fishbotics]

Hi,

I have a question about the debug visualizer camera and how the parameters are calculated. Here is an example.

import pybullet as p
import numpy as np
p.connect(p.GUI)
camera_info = p.getDebugVisualizerCamera()
yaw = camera_info[8]    
pitch = camera_info[9]
distance = camera_info[10]
target = camera_info[11]
view_matrix = np.asarray(camera_info[2]).reshape(4, 4).T  # Switch to column-major format

# Keeps everything the same
p.resetDebugVisualizerCamera(    
    distance, yaw, pitch, target,
)

assert np.allclose((np.linalg.inv(view_matrix) @ np.array([0, 0, -distance, 1]))[:3], target, atol=1e-6)
new_target = tuple((np.linalg.inv(view_matrix)  @ np.array([0, 0, -2 * distance, 1]))[:3])
# This moves the camera
p.resetDebugVisualizerCamera(    
    2 * distance, yaw, pitch, new_target,
)

Why does changing the target along the same ray affect the camera position? My only guess would be that yaw and pitch are relative to the horizontal plane with the target?