Can you give us some examples of this? I've gone through the Picatrix looking for influences, especially in regard to the astrological decan images (GD used decan correspondences to the Minors) and couldn't find direct associations in the Picatrix. Here's a comparison of several sets of decan images, including those from the Picatrix:
http://www.bendykes.com/articles/decans.php
I actually think there are several versions of the picateix, which doesn't help. It was originally written in arabic, translated into spanish, Latin and then translated again into English and other languages. And often reformed over the years. The link you provided is the reformed english version.
There are many versions, so it gets really confusing. The one with the references to the decans aren't exact, but give us an idea. I have an kindle version which is hard to read as its translation must go way, way back and I slumbered on.....
Then I found glastonburybooks.com, which looks like the website you referenced was where the authored pulled the text from.
the version that references them is called Picatrix:the goal of the wise (غايت ا حكيم ) by Steve Ashe. The isbn is 978-1-4461-7475-3.
6 of pentacles is the second decan of Taurus which is the moon in Taurus. Ashe writes,"a man like figure of a camel and having on his fingers are hooves like those of cows, and he is covered completely with a torn linen sheet. He desires to work the land, to sow, and to make things. And this is a face of nobility, power and of rewarding the people." (84)
The only connection between this and RWS is the fact that the face of the noble man is rewarding the people. It makes you think that he is giving more money to the one who he believes will use the money to "work the land, to sow, and to make things happen." Perhaps camel (and this might be a stretch) is indicating two humps and so two impoverished people?
Okay, so it's not exact and Waite didn't make these images exactly like the Picatrix was written, but you can see the references. Some of them are more obvious than others.