00001 /* 00002 * ColorMapFilter.hpp 00003 * 00004 * Created on: Sep 23, 2017 00005 * Author: Peter Fankhauser 00006 * Institute: ETH Zurich, Robotic Systems Lab 00007 */ 00008 00009 #pragma once 00010 00011 #include <grid_map_core/TypeDefs.hpp> 00012 #include <filters/filter_base.h> 00013 00014 #include <Eigen/Core> 00015 #include <string> 00016 00017 namespace grid_map { 00018 00022 template<typename T> 00023 class ColorMapFilter : public filters::FilterBase<T> 00024 { 00025 00026 public: 00030 ColorMapFilter(); 00031 00035 virtual ~ColorMapFilter(); 00036 00040 virtual bool configure(); 00041 00047 virtual bool update(const T& mapIn, T& mapOut); 00048 00049 private: 00051 Eigen::Vector3f minColor_, maxColor_; 00052 00054 double min_, max_; 00055 00057 std::string inputLayer_; 00058 00060 std::string outputLayer_; 00061 }; 00062 00063 } /* namespace */