Personally, I think its fine as long as both parties are comfortable with it. I don't think it hurts the industry's image because some people like the skin on skin contact. In my opinion is similar to a massage. In a massage, one party is actually clothed in underwear (or sometimes not clothed at all) in a private room and yet there is no problem and some masseuses take incalls. So I don't see a problem. However, I do advise it against it for first time clients though.
I don't recall any massage parlors (legal ones) having advertisements using women in lingerie on their websites or in magazines.
Interesting how poster revives two long ago dead threads about underwear then deleted account
Closing thread as a user seems to have come to post in it to stir things up again only to delete their account right after doing so.