Seems like the following will work:
in your ~/.hgrc (UNIX / Mac) or c:\users[your username]\mercurial.ini, add
[extensions]
extdiff=
[extdiff]
cmd.vdiff = opendiff
cmd.kdiff = kdiff3
and now you can do
hg vdiff filename
hg kdiff filename
the opendiff or kdiff3 must be tools already installed on your machine, or you can use whatever visual diff tool that you have.
in fact, you can add
cmd.echo = echo
and see that echo will echo 2 filenames out when you do a
hg echo filename
hg echo -r -2 filename <-- you will see different filenames if that revision exists