diff --git a/image_geometry/test/utest.cpp b/image_geometry/test/utest.cpp
index 05f794446..881cd9328 100644
--- a/image_geometry/test/utest.cpp
+++ b/image_geometry/test/utest.cpp
@@ -26,16 +26,27 @@ class PinholeTest : public testing::Test
                   0.0, 295.53402059708782, 223.29617881774902, 0.0,
                   0.0, 0.0, 1.0, 0.0};
 
+
+    cam_info_.header.stamp.sec = 0;
+    cam_info_.header.stamp.nanosec = 0;
     cam_info_.header.frame_id = "tf_frame";
     cam_info_.height = 480;
     cam_info_.width  = 640;
+    cam_info_.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
+    // No binning
+    cam_info_.binning_x = 0;
+    cam_info_.binning_y = 0;
     // No ROI
+    cam_info_.roi.x_offset = 0;
+    cam_info_.roi.y_offset = 0;
+    cam_info_.roi.height = 0;
+    cam_info_.roi.width = 0;
+    cam_info_.roi.do_rectify = false;
     cam_info_.d.resize(5);
     std::copy(D, D+5, cam_info_.d.begin());
     std::copy(K, K+9, cam_info_.k.begin());
     std::copy(R, R+9, cam_info_.r.begin());
     std::copy(P, P+12, cam_info_.p.begin());
-    cam_info_.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
 
     model_.fromCameraInfo(cam_info_);
   }
@@ -150,15 +161,9 @@ TEST_F(PinholeTest, getDeltas)
 
 TEST_F(PinholeTest, initialization)
 {
-
-    sensor_msgs::msg::CameraInfo info;
-    image_geometry::PinholeCameraModel camera;
-
-    camera.fromCameraInfo(info);
-
-    EXPECT_EQ(camera.initialized(), 1);
-    EXPECT_EQ(camera.projectionMatrix().rows, 3);
-    EXPECT_EQ(camera.projectionMatrix().cols, 4);
+  EXPECT_EQ(model_.initialized(), 1);
+  EXPECT_EQ(model_.projectionMatrix().rows, 3);
+  EXPECT_EQ(model_.projectionMatrix().cols, 4);
 }
 
 TEST_F(PinholeTest, rectifyIfCalibrated)