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I'm not aware of a way to do this automatically. You could probably write an rviz plugin to do it though. You'd need to learn how to make a plugin:

http://docs.ros.org/indigo/api/rviz_plugin_tutorials/html/display_plugin_tutorial.html

and then maybe inherit from the ImageDisplay or the CameraDisplay classes:

https://github.com/ros-visualization/rviz/blob/indigo-devel/src/rviz/default_plugin/camera_display.h

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