I'd guess you'd prolly be ok. I'm 6' 3" with a the same inside leg as you and have an 18 inch RC300 – which has same dimensions as RC200, but very slightly slacker angles IIRC. I've always found it a little cramped though – its ok but its a slightly compromised position. It certainly fits nowhere near as well as my more contemporary bikes like my Soul and Soda. Its just a bit short, but I sound a bit longer in the upper body than you.
Up until a few years ago I had a 19 inch RC200 too. Conversely I found that a bit too long – and it also felt huge and ungainly when I was riding it. Was certainly a more comfortable position for mile munching, but much less nimble. I prefer the 18 inch sizing, so I'd guess you definately would.
I seem to remember the effective toptube on the 18 inchers is around 590mm – I'd guess thats only a smidge shorter than your 5 or P7 so you should be fine.