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You could transform your png to occupancy grid format and publish it. http://wiki.ros.org/rviz/DisplayTypes/Map

I think you are restricted to 3 colors (white, grey and black). But I don't know another way to do it.

You could transform your png to occupancy grid format and publish it. http://wiki.ros.org/rviz/DisplayTypes/Map

I think you are restricted to 3 colors grey values (white, grey and black). But I don't know another way to do it.

You could transform your png to occupancy grid format and publish it. http://wiki.ros.org/rviz/DisplayTypes/Map

I think you are restricted to 3 grey values (white, grey and black). But I don't know another way to do it.

UPDATE: Why not copy the image to a point cloud with the x, y and z coordinates set to lie in your plane?