You can accomplish this, but you will have to write some custom code. The steps to do this are as follows
The images that are added to AF as attachments are stored in tmp/fd/... location
you will have to create base64 encoded string from this image
then you will have to create an xml and in that xml you will have to add the base64 encoded string value as element value
then merge the xml data with the DOR template using output service to get the pdf
a sample is listed here
Login using your facebook account, then click on the left "<" arrow on the carousel to go the last entry in the carousel. There you will find "Image in AF" sample. You can upload the image in the 3rd panel and on submission you will get PDF with the image in it.