1. A calibration device comprising: an acquirer that acquires an image captured by a camera installed on a movable body; an extractor that extracts a first point and a second point from the image, the first point and second point are on a motion plane of the movable body or on a plane parallel to the motion plane and a straight line connecting the first point and the second point being not parallel to a moving direction of the movable body; and a calculator that calculates the installation parameter of the camera on the basis of a positional relationship between a first coordinate of the first point in a first image captured at a first timing and a second coordinate of the second point in the first image, a positional relationship between a third coordinate of the first point in a second image captured at a second timing after the movable body moves in the moving direction after the first timing and a fourth coordinate of the second point in the second image, a positional relationship between the first coordinate and the third coordinate, and a positional relationship between the second coordinate and the fourth coordinate, wherein at least one of the acquirer, the extractor and the calculator is included in a processor.