A device for calibrating a camera of a vehicle includes: a first camera for acquiring a first image, a second camera for acquiring a second image, and a processor that extracts a first class of interest from the first image, and extracts a second class of interest from the second image. The processor projects pixel coordinates of the first class of interest onto the second image to convert the pixel coordinates, and corrects parameters of the second camera such that a difference between the converted pixel coordinates of the first class of interest and pixel coordinates of the second class of interest is minimized.