Send an image with content

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp

@@ -22,6 +22,8 @@
 
 #include "ArMemExampleClient.h"
 
+#include <SimoxUtility/color/cmaps.h>
+
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
 
@@ -379,6 +381,23 @@ namespace armarx
                 { "three", 3 },
             };
 
+            {
+                CByteImage& image = *data.the_ivt_image;
+                image.Set(20, 10, CByteImage::ImageType::eRGB24);
+                simox::ColorMap cmap = simox::color::cmaps::plasma();
+                cmap.set_vmax(image.width + image.height);
+                for (int row = 0; row < image.height; ++row)
+                {
+                    for (int col = 0; col < image.width; ++col)
+                    {
+                        simox::Color color = cmap(row + col);
+                        unsigned char* p = &image.pixels[(row * image.width + col) * image.bytesPerPixel];
+                        p[0] = color.r;
+                        p[1] = color.g;
+                        p[2] = color.b;
+                    }
+                }
+            }
 
             update.instancesData = { data.toAron() };
         }