I don't think the rear view camera is compatible with the RCD-510, only the RNS-510. I may be wrong here, but I think this is how it is. The screen resolution on the RCD-510 is pretty low, at least compared to the RNS-510.
There is absolutely no way to get the picture displayed on the instrument cluster. It's a red/partial orange pixel display or in the case of the '10, a solid white pixel display with absolutely no capability for motion video or any color display.
Edit: I misread the first post. If you have a video in jack, you might be in luck. You might just need to re-code your RCD with VCDS.