Smooth camera object tracking

[VallesMarinerisExplorer]

Hi! I am trying to get the camera to follow a specified robot. I have had limited success with resetDebugVisualizerCamera(), but I am not sure if that is the most efficient way to do it. The camera also lags behind the object and jumps every loop iteration, which can be annoying. I am also running a few other functions in my loop like recording joint position, velocity, etc. but it seems that resetting the camera distance, yaw and pitch programmatically takes up a significant amount of time each loop iteration. The other functions do not significantly affect the dynamics and neither does use of the mouse to change the view... normal rendering without resetDebugVisualizerCamera() is smooth.

I would like to have smooth camera updates as in here, if possible:
https://www.youtube.com/watch?v=FDjhYENTOMI

Is there an easy way to do this?

Thanks!

Windows 10
Intel(R) Core(TM) i7-7500U CPU @ 2.70GHz 2.90 GHz
Pycharm 2018.2