I did a lot of projects that were raster-based in college (GIS emphasis physical geography major). I use ArcMap for most of my projects, especially ones involving rasters. I investigated situations like these using the Spatial Analyst option of tools, the most common of which is the Nibble tool.
Basically, using the tool assigns each raster replaces results of a raster (such as terrain background, which in this case would be elevation in ft.) and assigns a normalized set of values to each raster in the image based on the nearest neighbors of each raster cell.
That may sound wordy, but if you have good elevation data available in a TIFF or other quality imagery format, and have a license for ArcMap, it's a fairly simple process that requires just a little bit of reading for utilizing the specific tool in question.
For what it's worth, I love ArcMap, and though I'm in news for now, I hope to have a GIS-related career in the future. So much application one can analyze with it.