No. Imagine a 2D sheet of paper floating perpendicularly above the $x$-axis of the plane and centered at the origin. Twist the lower end 90 degrees clockwise parallel to the $y$-axis, and the upper end 90 degrees counterclockwise parallel to the $y$-axis, leaving the vertical line above the origin fixed. The projection down of this looks something like two triangles joined at one vertex (at the origin).
**Edit due to injectivity condition:** Still don't think it suffices. Imagine an open line segment in $\mathbb{R}^3$ bent into something that projects onto the $(x,y)$-plane as a figure-eight, but where the cross-point in the projection onto the $(x,y)$-plane is below the 'holes' at the open endpoints, and one point on the interior of the line segment (i.e. the curve is arranged so the endpoint holes and this interior point all differ only in the $z$-coordinate, and the rest of the open line segment forms the remainder of the figure-eight).