Outdoor middle and long distance scene calibration method based on multi-PTZ camera in arbitrary distributed configuration

The invention provides an outdoor middle and long distance scene calibration method for multiple PTZ cameras based on any distributed configuration, which comprises the following steps of: firstly, building a calibration frame with calibration plates with different postures, calibrating optical center image coordinates of the cameras through a front and back zooming method, and then obtaining internal parameters of the cameras according to a two-step calibration method; then, aiming at a rotation structure of the camera, constructing a holder rotation model, the input of the model being an azimuth angle and a pitch angle of the PTZ camera, and the output of the model being an optical center coordinate of the camera; and finally, selecting a calibration point in the scene and constructing a world coordinate system, rotating the PTZ camera and observing the calibration point, and calculating the conversion relation between the camera coordinate system and the world coordinate system in the scene according to th