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Hey jtim,

I have little experience with this, but from a couple of years ago I remember looking at: http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages

the cv_bridge can cast image back and forth between opencv and ROS types, visualizing then becomes as simple as creating a publisher and rviz node. Although you indicate that RViz might not work properly, in which case you might be able to try to offload visualization to a normal PC running ROS?

Good luck!