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The pilprint tool prints an image to any PostScript level 1 printer. The image is centered on the page, with the filename (minus path and extension) written above it. Output is written to standard output.
$ pilprint lena.tif | lpr -h
You can use the -p option to print directly via lpr and -c to print to a colour printer (otherwise, a colour image is translated to greyscale before being sent to the printer).