/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:378:41: error: 'avcodec_alloc_frame' was not declared in this scope
   avframe_camera_ = avcodec_alloc_frame();
                                         ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:381:3: warning: 'int avpicture_alloc(AVPicture*, AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
   ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4871:5: note: declared here
 int avpicture_alloc(AVPicture *picture, enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:381:3: warning: 'int avpicture_alloc(AVPicture*, AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
   ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4871:5: note: declared here
 int avpicture_alloc(AVPicture *picture, enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:381:46: error: 'PIX_FMT_RGB24' was not declared in this scope
   avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
                                              ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:388:31: error: 'PIX_FMT_YUV422P' was not declared in this scope
   avcodec_context_->pix_fmt = PIX_FMT_YUV422P;
                               ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:392:26: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avframe_camera_size_ = avpicture_get_size(PIX_FMT_YUV422P, image_width, image_height);
                          ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:392:26: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avframe_camera_size_ = avpicture_get_size(PIX_FMT_YUV422P, image_width, image_height);
                          ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:393:23: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avframe_rgb_size_ = avpicture_get_size(PIX_FMT_RGB24, image_width, image_height);
                       ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:393:23: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   avframe_rgb_size_ = avpicture_get_size(PIX_FMT_RGB24, image_width, image_height);
                       ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp: In member function 'void usb_cam::UsbCam::mjpeg2rgb(char*, int, char*, int)':
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:436:18: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   int pic_size = avpicture_get_size(avcodec_context_->pix_fmt, xsize, ysize);
                  ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:436:18: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   int pic_size = avpicture_get_size(avcodec_context_->pix_fmt, xsize, ysize);
                  ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:436:76: warning: 'int avpicture_get_size(AVPixelFormat, int, int)' is deprecated [-Wdeprecated-declarations]
   int pic_size = avpicture_get_size(avcodec_context_->pix_fmt, xsize, ysize);
                                                                            ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4898:5: note: declared here
 int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:443:86: error: 'PIX_FMT_RGB24' was not declared in this scope
   video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL,
                                                                                      ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:449:14: warning: 'int avpicture_layout(const AVPicture*, AVPixelFormat, int, int, unsigned char*, int)' is deprecated [-Wdeprecated-declarations]
   int size = avpicture_layout((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
              ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4890:5: note: declared here
 int avpicture_layout(const AVPicture *src, enum AVPixelFormat pix_fmt,
     ^
/opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:449:14: warning: 'int avpicture_layout(const AVPicture*, AVPixelFormat, int, int, unsigned char*, int)' is deprecated [-Wdeprecated-declarations]
   int size = avpicture_layout((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
              ^
In file included from /opt/ros/ros_catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,
                 from /opt/ros/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/libavcodec/avcodec.h:4890:5: note: declared here
 int avpicture_layout(const AVPicture *src, enum AVPixelFormat pix_fmt,
     ^