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It looks like you are setting the size of the image to something different than what you calibrated with. The lifecam.ini is calibrated for 640x480, but you have the camera configured for 320x240. The camera calibration size needs to match the size of the image; the camera_info_manager doesn't handle the current image size being different than the calibrated size if I recall correctly.

Try setting the camera to 640x480 and see if the problem still occurs. If not, try setting the resolution to 320x240 and then recalibrating and using the new file. A shortcut could be to just edit your calibration's width and height values, but there is no guarantee that the calibration will still be correct at the different image size.