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How to pan and tilt a still image?

Hello guys,

How can know the pan and tilt angle necessary to center a PTZ camera in a specific pixel in the image?

For example, consider that the center of the image provided by the PTZ camera has the coordinates (0,0). My question is how to determine the pan and tilt angle that I have to rotate the camera to center the camera in the pixel (30,40) ( it is an example).

I am almost sure that the mapping forrmula will require the horizontal angle of view and image resolution, in my case 58,9ยบ and 1080x1920

Thank you for your help