The difference between the Image and Camera displays is that the former just takes an image and displays is, while the latter additionally uses information about camera intrinsics for additional functionality such as being able to project rviz 3D rendered information into the image. To be able to do so, it requires a CameraInfo message to be published along with each Image message, see for instance REP-0104.
So for the Camera display to work, you need to publish a correctly timestamped CameraInfo message for each Image you publish. According to the video_stream_opencv documentation such functionality is already available, so you might want to check if CameraInfo messages are already published.
Originally posted by Stefan Kohlbrecher with karma: 24361 on 2020-01-21
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Comment by Fetzle on 2020-01-21:
Thank you for your answer.
As far as I understood video_stream_opencv does publish a default CameraInfo if I don't specify a camera calibration. I checked if this message is published and it is.
RViz also shows me in the camera status that the CameraInfo and the Topic are OK.