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Generally the camera driver (uvc_camera in your case) is not responsible for using the camera calibration. Rather, it makes the calibration information available for other processes to use for things like rectification.

You likely should read the image_proc page. By properly starting the image_proc node/nodelets, you'll automatically have access to rectified and grayscale versions of the raw camera image.

Depending on what you are doing, you may also want to look at the image_geometry package that provides tools for reading images and calibration files and performing geometric computations correctly.