ColorMapFilter.hpp

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/*
 * ColorMapFilter.hpp
 *
 *  Created on: Sep 23, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_core/TypeDefs.hpp>
#include <filters/filter_base.hpp>

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

namespace grid_map {

template<typename T>
class ColorMapFilter : public filters::FilterBase<T>
{

 public:
  ColorMapFilter();

  virtual ~ColorMapFilter();

  virtual bool configure();

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

 private:
  Eigen::Vector3f minColor_, maxColor_;

  double min_, max_;

  std::string inputLayer_;

  std::string outputLayer_;
};

} /* namespace */