The invention relates to the technical field of image photographing equipment, and discloses a camera calibration method and a camera calibration device. The calibration method comprises the steps of determining whether an image plane is overlapped with a plane in which a photosensitive unit exists; if not, adjusting the position of a lens module through a moving mechanism until the image plane is overlapped with the plane in which the photosensitive unit exists; on the condition that the image plane is overlapped with the plane in which the photosensitive unit exists, calculating a tangential value of an included angle beta between an object plane and the image plane; and on the condition that an object distance changes, calibrating the position of the lens module according to the tangential value. An embodiment of the invention further discloses a camera calibration device. Compared with prior art, the camera calibration method and the camera calibration device are advantageous in that the position of the lens module can be adjusted through a moving mechanism so that the image plane is overlapped with the plane in which the photosensitive unit exists; and furthermore the tangential value of the included angle between the object plane and the image plane is calculated; and on the condition that the object distance is changed, the position of the lens module can be calibrated according to the tangential value.