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How to do camera calibration for Primesense?

Hello there,

I want to calibrate my Carmine 1.09 depth sensor. I am using a tutorial "How to Calibrate a Monocular Camera" in ROS.

It asks me to find the topic "/camera/image_raw". However, I don't have such topic, instead I have following similar topics

"/camera/depth/image_raw"
"/camera/depth_registered/image_raw"
"/camera/ir/image_raw"
"/camera/rgb/image_raw"

I tried to calibrate the camera using "camera/depth/image_raw" with the following command:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/depth/image_raw camera:=/camera/depth

Is this command correct? If I run this command, I get a message like this:

Waiting for service /camera/depth/set_camera_info ...
Service not found

Do I need to make any changes to the code in cameracalibrator.py? Please let me know the right way to calibrate?

Thanks in advance.