Motivating use-case: I have an image that represents a map. I want to place that map on the "floor" of my 3D space. This is different from a camera projection because I want the image plane to be located at specific geometric location with a specified mapping from pixels to 3d distance.

Example of equivalent functionality in rviz:

This seems like it could mostly be handled with a Rigid3 transform + scale to map from pixel -> spatial coordinates.