In one exemplary embodiment a method calibrates a pan-tilt-zoom (PTZ) camera system. The PTZ camera system may include a PTZ camera. The method may perform at least one of the following steps: determining a radial distortion of the PTZ camera; determining a base focal length of the PTZ camera; determining a zoom and magnification profile of the PTZ camera; determining an actuation delay of the PTZ camera system; determining a pan position mode speed and/or a tilt position mode speed of the PTZ camera; determining a pan velocity profile and/or a tilt velocity profile of the PTZ camera; determining a zoom position profile and/or a zoom duration profile of the PTZ camera; determining a query delay of the PTZ camera system; and determining a minimum query interval of the PTZ camera system.