This is the code for the 2018 CoRL paper **ESIM: an Open Event Camera Simulator** by [Henri Rebecq](http://henri.rebecq.fr), Daniel Gehrig and [Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html):
```bibtex
@Article{Rebecq18corl,
author = {Henri Rebecq and Daniel Gehrig and Davide Scaramuzza},
title = {{ESIM}: an Open Event Camera Simulator},
journal = {Conf. on Robotics Learning (CoRL)},
year = 2018,
month = oct
}
```
You can find a pdf of the paper [here](http://rpg.ifi.uzh.ch/docs/CORL18_Rebecq.pdf). If you use any of this code, please cite this publication.
Specific instructions to run the simulator depending on the chosen rendering engine can be found in [our wiki](https://github.com/uzh-rpg/rpg_esim/wiki).
We thank Raffael Theiler and Dario Brescianini for their contributions to ESIM.
This research was supported by by Swiss National Center of Competence Research Robotics (NCCR), Qualcomm (through the Qualcomm Innovation Fellowship Award 2018), the SNSF-ERC Starting Grant and DARPA FLA.
A significant part of ESIM uses components (spline trajectories, inertial measurement unit simulation, various utility functions) from the [ze_oss](https://github.com/zurich-eye/ze_oss) project.
We also reused some [code samples](https://github.com/JoeyDeVries/LearnOpenGL.git) from the excellent [Lean OpenGL](https://learnopengl.com/) tutorial in our OpenGL rendering engine.
Finally, ESIM depends on the [Open Asset Import Library (assimp)](https://github.com/assimp/assimp) to load 3D models and Blender scenes within the OpenGL rendering engine.