Just plug in your phone via usb to your computer, and select Disk Drive mode on the phone. You will then see the sd card in Windows, and the pictures from your camera are in the DCIM folder on your SD card.
I don't use facebook but I would guess you would need to post those pictures to facebook from your phones facebook application first before you could see them on your PC.
I think there might be an application that does something simliar to what you are asking(Picassa maybe) but in general those pictures only reside on your SD card until you move them somewhere. By default they do not sync to any online account.
So you just want to view the pictures? Then go to the Gallery on your phone. If you want to upload them to Facebook, go to Photos in the app, then click the camera icon to upload them.
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