diff -aur a/usb_cam-release-release-kinetic-usb_cam-0.3.5-0/src/usb_cam.cpp src/usb_cam-release-release-kinetic-usb_cam-0.3.5-0/src/usb_cam.cpp
--- a/usb_cam-release-release-kinetic-usb_cam-0.3.5-0/src/usb_cam.cpp	2017-10-06 21:42:03.201743369 -0700
+++ src/usb_cam-release-release-kinetic-usb_cam-0.3.5-0/src/usb_cam.cpp	2017-10-06 21:43:40.843637859 -0700
@@ -383,19 +383,19 @@
   avframe_rgb_ = av_frame_alloc();
 #endif
 
-  avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
+  avpicture_alloc((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, image_width, image_height);
 
   avcodec_context_->codec_id = AV_CODEC_ID_MJPEG;
   avcodec_context_->width = image_width;
   avcodec_context_->height = image_height;
 
 #if LIBAVCODEC_VERSION_MAJOR > 52
-  avcodec_context_->pix_fmt = PIX_FMT_YUV422P;
+  avcodec_context_->pix_fmt = AV_PIX_FMT_YUV422P;
   avcodec_context_->codec_type = AVMEDIA_TYPE_VIDEO;
 #endif
 
-  avframe_camera_size_ = avpicture_get_size(PIX_FMT_YUV422P, image_width, image_height);
-  avframe_rgb_size_ = avpicture_get_size(PIX_FMT_RGB24, image_width, image_height);
+  avframe_camera_size_ = avpicture_get_size(AV_PIX_FMT_YUV422P, image_width, image_height);
+  avframe_rgb_size_ = avpicture_get_size(AV_PIX_FMT_RGB24, image_width, image_height);
 
   /* open it */
   if (avcodec_open2(avcodec_context_, avcodec_, &avoptions_) < 0)
@@ -445,13 +445,13 @@
     return;
   }
 
-  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL,
+  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, AV_PIX_FMT_RGB24, SWS_BILINEAR, NULL,
 			      NULL,  NULL);
   sws_scale(video_sws_, avframe_camera_->data, avframe_camera_->linesize, 0, ysize, avframe_rgb_->data,
             avframe_rgb_->linesize);
   sws_freeContext(video_sws_);
 
-  int size = avpicture_layout((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
+  int size = avpicture_layout((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
   if (size != avframe_rgb_size_)
   {
     ROS_ERROR("webcam: avpicture_layout error: %d", size);