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Ah, found it. Not sure why the behavior changed recently, but the fix is to launch image_proc in the "/camera" name space, not in "camera". The modified .launch file is:

  <node name="launch_prosilica_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
    <param name="~trigger_mode" type="str" value="streaming"/>
  <node name="launch_image_proc" pkg="image_proc" type="image_proc" output="screen">
    <env name="ROS_NAMESPACE" value="/camera"/>

Thanks for the views!