3D camera calibration method and device, computer equipment and storage medium thereof

The invention discloses a 3D camera calibration method and device, computer equipment and a storage medium thereof. The method comprises the steps: controlling a Probe probe to touch and measure first coordinates of intersection points on a calibration tool in a Probe coordinate system, wherein the calibration tool is provided with a plurality of calibration strips which are arranged in a criss-cross mode, and the intersection points are formed between the crossed calibration strips; converting a first coordinate of each intersection point in the Probe coordinate system into a second coordinate in a 3D camera coordinate system; controlling the 3D camera to scan the calibration tool according to a predetermined scanning path, and calculating through a visual algorithm to obtain a third coordinate of each intersection point in the coordinate system of the 3D camera; and comparing the third coordinate with the second coordinate to obtain a point position deviation value between the third coordinate and the secon