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Do check out this website to find some more information on how ranger does it: https://github.com/ranger/ranger/wiki/Image-Previews Seems like ueberzug is a way to images into almost any existing terminal emulator, but it seems like a bit of an X11 hack to me and you're not actually writing C code.
nnn supports several mechanisms to preview images in the terminal and ueberzug delivers the best results. However, technology keeps improving and I think libsixel is the most promising.
This is C++, but does what you imagine: https://github.com/hzeller/timg