This one looks really good, I turned the Gains down probably too low, but it behaves very well. 45/45/30 I also set scale to 1.00 for the distance.
It definitely seems like we need information back from the camera to know how fast to move and track. EG, Focused at a distance, than Pan should be based more around the max speed of someone at that distance where closer up the speed should be faster. Once we get numbers, I can probably help with formula. I hate to do this, but maybe we should investigate ONVIF to see if it will generate more reliable data... Also, it looks like you can query the camera for all its min/maxes as well. I found a C/Cpp ONVIF library on Github: libONVIF which might be an options:
https://github.com/Tereius/libONVIF
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