Converting bounding box co-ordinates to x y co-ordinates to control a pan-tilt system

Currently trying to implement a object tracking system that outputs the location of the object being tracked to a pan/tilt device.

Could someone please advise on a method of doing this? I am thining of using the bbbox2points as a start and trying to calculate the centre of the target from there. Is there an easier way to do this as my MATLAB experience is limited. Thanks.