If you are talking about possession, display, and commerce in pictures, the ONLY thing that is categorically illegal in the United States is child porn. Anything else is illegal only if it is obscene -- the legal test for which has a number of extremely subjective and variable standards.
Bottom line here is, outside of CP the question "Is XXXX illegal in the United States?" cannot be answered. The answer is gonna be different for each different image, in each different community, and depend on each different jury and juror. You pays yer money and you takes yer chances. Given the impossibility of even figuring out what the pertinent "community" is for an image on the internet, it's fair to say that it is literally IMPOSSIBLE to tell in advance whether a specific image might be adjudged obscene, somewhere.
Visa is a business. They can do business with whomever they please, and like most businesses, they are pretty cowardly. However, their choices are not censorship, anymore than you are "censoring" Don King the next time you decide not to watch one of his lame fights on pay-per-view.
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