Trouble with visp_camera_calibration

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I've been trying to perform hand-eye calibration on my Baxter robot using the visp_camera_calibration package with this tutorial: http://wiki.ros.org/visp_camera_calib...

I am using an ASUS Xtion, which is not a firewire camera, so I have changed the launch file as follows:

<launch> <node pkg="rqt_console" name="rqt_console" type="rqt_console"/> <node pkg="openni_camera" type="openni_node" name="camera_node"/> <node pkg="image_view" type="image_view" name="my_image_raw_viewer" args="image:=/camera/rgb/image_raw"/> <arg name="calibration_path" default="calibration.ini"/>

<group ns="visp_camera_calibration">

<node pkg="visp_camera_calibration" name="visp_camera_calibration_calibrator" type="visp_camera_calibration_calibrator"/>

<!-- <node pkg="visp_camera_calibration" name="visp_camera_calibration_image_processing" type="visp_camera_calibration_image_processing" args="camera_prefix:=/camera/rgb/"> -->

<node pkg="visp_camera_calibration" name="visp_camera_calibration_image_processing" type="visp_camera_calibration_image_processing">

  <param name="gray_level_precision" value="0.7" />
  <param name="size_precision" value="0.5" />
  <param name="pause_at_each_frame" value="False" />
  <param name="calibration_path" type="string" value="$(arg calibration_path)" />

  <!-- 3D coordinates of all points on the calibration pattern. In this example, points are planar -->
  <rosparam param="model_points_x">[0.0, 0.03, 0.06, 0.09, 0.12, 0.15, 0.0, 0.03, 0.06, 0.09, 0.12, 0.15, 0.0, 0.03, 0.06, 0.09, 0.12, 0.15, 0.0, 0.03, 0.06, 0.09, 0.12, 0.15, 0.0, 0.03, 0.06, 0.09, 0.12, 0.15, 0.0, 0.03, 0.06, 0.09, 0.12, 0.15]</rosparam>
  <rosparam param="model_points_y">[0.0, 0.00, 0.00, 0.00, 0.00, 0.00, .03, 0.03, 0.03, 0.03, 0.03, 0.03, .06, 0.06, 0.06, 0.06, 0.06, 0.06, .09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.12,0.12, 0.12, 0.12, 0.12, 0.12, 0.15,0.15, 0.15, 0.15, 0.15, 0.15]</rosparam>
  <rosparam param="model_points_z">[0.0, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0, 0.00, 0.00, 0.00, 0.00,0.00]</rosparam>

  <!-- 3D coordinates of 4 points the user has to select to initialise the calibration process -->
  <rosparam param="selected_points_x">[0.03, 0.03, 0.09, 0.12]</rosparam>
  <rosparam param="selected_points_y">[0.03, 0.12, 0.12, 0.03]</rosparam>
  <rosparam param="selected_points_z">[0.00, 0.00, 0.00, 0.00]</rosparam>     
</node>

</group> </launch>

I realised that openni publishes to camera/rgb/image_raw as opposed to just camera/image_raw so I ran it with $ roslaunch calib-live-firewire.launch camera/image_raw:=/camera/rgb/image_raw camera_prefix:=/camera/rgb $ roslaunch openni_launch openni.launch (new terminal)

This opens the image viewer fine and I can see the Xtion feed, as well as opens the rqt view fine. The issue is that I can't get the image into the calibration window.

I have opened ... (more)