Alright, I’m answering my own question:
function compose(bg, fg, pos, angle)
mask = Gray.(fg)
mask[:] .= Gray(1)
img = warp(fg, LinearMap(RotMatrix(deg2rad(angle))) ∘ Translation(pos...))
mask = warp(mask, LinearMap(RotMatrix( deg2rad(angle) )) ∘ Translation(pos...))
scene = copy(bg)
scene[findall(mask .== Gray(1))] = img[mask .== Gray(1)]
scene
end