Is there a standardized foot print for attaching coax cable directly to a board?
Yes it has standardize connection to PCB, but it's more like common cable connector attached to PCB. It's been used by decade of some old manufacture usually in Asia. You wouldn't see in US i guess because it's not common procedure.

It's mainly use in TV booster on Asia.
And again this is not the best procedure at all not even meets the new standard, but you can try if didn't want any BNC connector to eat your space project..