The invention is suitable for the technical field of image processing, and provides a camera calibration method and device, electronic equipment and a storage medium, and the camera calibration methodcomprises the steps: obtaining a first image, photographed by a camera, of a calibration plate at a first preset position and a second image, photographed by the camera, of the calibration plate at asecond preset position, acquiring a second preset position by rotating the calibration plate around a preset rotating shaft for a preset angle at the first preset position, wherein the preset rotating shaft is perpendicular to a preset plane, detecting an angular point in the first image and an angular point in the second image, and calculating a homography matrix according to the angular point in the first image and the angular point in a second image, using the homography matrix for describing the mapping relation between the second image and the first image, calculating the vanishing lineof the preset plane according to the homography matrix so that the calculation accuracy of the vanishing line of the preset plane is improved, calibrating the camera according to the vanishing line ofthe preset plane so that calibration precision of the camera is improved.