void infoCallback(const sensor_msgs::CameraInfoConstPtr& info_msg) { if (calibrated) return; cam_model_.fromCameraInfo(info_msg); pattern_detector_.setCameraMatrices(cam_model_.intrinsicMatrix(), cam_model_.distortionCoeffs()); calibrated = true; image_sub_ = nh_.subscribe("/camera/rgb/image_mono", 1, &CalibrateKinectCheckerboard::imageCallback, this); ROS_INFO("[calibrate] Got image info!"); }