Pipe to camera/image_raw

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I have a camera on a raspberry pi and am trying to stream the image in order to do the processing on a linux machine (Ubuntu 14.04 LTS, ROS Indigo). I'm currently streaming rawvideo from the pi using netcat through UDP and send that to a pipe file. Now I need to somehow make ROS get the image from the pipe (I guess either create some publisher that sends it to a topic or in some other way send the data to /camera/image_raw). I also thought about doing a loopback from the pipe to a device with v4l2 and using rosusb, but seems like something that will add to the latency without much gain.

Any suggestion? Thanks