Camera calibration method and device, computer equipment and storage medium

The invention discloses a camera calibration method, apparatus and device, and a storage medium. The method comprises the steps of determining N groups of homonymy points according to a three-dimensional model of a target area and a video image of the target area acquired by a to-be-calibrated camera; constructing a first equation according to the first relational expression and the second relational expression, substituting the two-dimensional coordinates of the first target feature points and the three-dimensional coordinates of the second target feature points in the N groups of homonymy points into the first equation, and determining a rotation matrix, a first translation parameter and a second translation parameter of the camera to be calibrated; constructing a second equation according to the second relational expression, substituting the two-dimensional coordinates of the first target feature points and the three-dimensional coordinates of the second target feature points in the N groups of homonymy po