ColorBlendingFilter.hpp

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/*
 * ColorBlendingFilter.hpp
 *
 *  Created on: Sep 14, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <filters/filter_base.hpp>

#include <Eigen/Core>
#include <string>

namespace grid_map {

template<typename T>
class ColorBlendingFilter : public filters::FilterBase<T>
{
 public:
  ColorBlendingFilter();

  virtual ~ColorBlendingFilter();

  virtual bool configure();

  virtual bool update(const T& mapIn, T& mapOut);

 private:

  enum class BlendModes {
    Normal,
    HardLight,
    SoftLight
  };

  std::string backgroundLayer_, foregroundLayer_;

  double opacity_;

  BlendModes blendMode_;

  std::string outputLayer_;
};

} /* namespace */