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How to project an image in the scene ?

Hello,

I am simulating a mobile robot navigating on a simple terrain.
The robot is creating an obstacle map.
I would like to project the obstacle map to the terrain.

Is it possible to do that with a Gazebo rendering plugin ?
Is it possible to hide the projected image from the camera so that only the user is able to see it in the GUI (maybe there is some kind of layer) ?

I'm using gazebo Garden.

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