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In this subsection, I've included tools and instructions for those who want to build kernel themselves.
build-kernel-qemu script helps one to automate kernel building process for any debian based distro.
The ARM toolchain can be found in the debian package gcc-arm-linux-gnueabihf or at https://github.com/raspberrypi/tools. For other OSes, like windows or Mac OS X, one can have similar tools like gcc-arm-linux-gnueabihf- and other dependencies and refer build-kernel-qemu line by line to build the kernel.
If you enable USB webcam modules in the build script, make sure that the correct drivers for your web camera are selected in menuconfig. A word of warning, though: USB works in Qemu in general but USB web cameras have some problems actually.
Please note that build-kernel-qemu is not an original work of mine and credit for it goes to the original author (https://github.com/johnlane).
I've taken building references from the links below:
https://web.archive.org/web/20131210001638/http://xecdesign.com/compiling-a-kernel/ https://web.archive.org/web/20131209235952/http://xecdesign.com/compiling-qemu/ https://web.archive.org/web/20131210001407/http://xecdesign.com/working-with-qemu/ https://web.archive.org/web/20131210001526/http://xecdesign.com/qemu-emulating-raspberry-pi-the-easy-way/
build-kernel-qemu references :
https://github.com/johnlane/rpi-utils/blob/master/kernel/build-kernel-qemu
https://github.com/polaco1782/raspberry-qemu/blob/master/build-kernel-qemu