diff --git a/src/camera_calibration/include/camera_calibration/calibration_node.hpp b/src/camera_calibration/include/camera_calibration/calibration_node.hpp
index 5186e1a..d18ef90 100644
--- a/src/camera_calibration/include/camera_calibration/calibration_node.hpp
+++ b/src/camera_calibration/include/camera_calibration/calibration_node.hpp
@@ -37,6 +37,7 @@ namespace camera_calibration {
 // Struct to hold all calibration points
 struct CalibrationData {
   std::vector<std::vector<cv::Point2f>> all_points;
+  void clear() { all_points.clear(); }
 };
 
 struct CalibrationObjectPoints {
@@ -79,8 +80,8 @@ private:
 
   // ROS interfaces
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
-  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr debug_image_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr progress_image_pub_;
+  image_transport::Publisher debug_image_pub_;
+  image_transport::Publisher progress_image_pub_;
   rclcpp::Service<rm_interfaces::srv::SetMode>::SharedPtr control_srv_;
 
   // Camera info