The transformation/frames used in the interactive markers for image labeling have nothing to do with the actual frames on the robot. (I use the same frame s.t. the user doesn't have to switch the view; in the final version, ONLY interactive markers will be shown) I'm arbitrarily transforming the 2D image into 3D points that can be displayed in rviz, and scaling it s.t. it fits better in the default window size.