【实验】——ESIM: an Open Event Camera Simulator

首先是按照安装的教程走了一遍：

创建工作目录：

mkdir -p ~/sim_ws/src && cd ~/sim_ws
catkin init
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

　安装一些工具：

sudo apt-get install python-vcstool
sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install libglfw3 libglfw3-dev
sudo apt-get install libglm-dev
sudo apt-get install ros-kinetic-hector-trajectory-server

然后克隆项目代码：

cd src/
git clone [e-mail]:uzh-rpg/rpg_esim.git
vcs-import < rpg_esim/dependencies.yaml

然后更改一些不需要使用的文件夹的属性：

cd ze_oss
touch imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \
      imp_app_pangolin_example/CATKIN_IGNORE \
      imp_benchmark_aligned_allocator/CATKIN_IGNORE \
      imp_bridge_pangolin/CATKIN_IGNORE \
      imp_cu_core/CATKIN_IGNORE \
      imp_cu_correspondence/CATKIN_IGNORE \
      imp_cu_imgproc/CATKIN_IGNORE \
      imp_ros_rof_denoising/CATKIN_IGNORE \
      imp_tools_cmd/CATKIN_IGNORE \
      ze_data_provider/CATKIN_IGNORE \
      ze_geometry/CATKIN_IGNORE \
      ze_imu/CATKIN_IGNORE \
      ze_trajectory_analysis/CATKIN_IGNORE

然后进去编译：

cd ../
catkin build esim_ros

设置一些别名，随后方便直接source和使用这个工作空间：

echo "source ~/sim_ws/devel/setup.bash" >> ~/setupeventsim.sh
chmod +x ~/setupeventsim.sh
alias ssim='source ~/setupeventsim.sh'
ssim 就可以直接使用了。

 这个编译跑了两个多小时：

 接下来是去测试一下：