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uzh-rpg / rpg_esim

ESIM: an Open Event Camera Simulator
MIT License
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how to change the camera resolution and turn on color option #29

Open winswang opened 4 years ago

winswang commented 4 years ago

Can someone point me to the specific location where I can change the camera parameter? Or the relevant tutorial/demo having the option to do that? I'm primarily playing with the esim_ros for the image plane demo in the wiki.

I'm also wondering how to turn on the color option to output color frames.

Much appreciated!

supitalp commented 4 years ago

Hello,

1. How to change the camera intrinsic parameters? (field of view, etc.)

These parameters are specified in the camera calibration file specified in the config file, e.g. this file. The entries of the data line are [fx, fy, cx, cy], where fx, fy are the horizontal (resp. vertical) focal lengths, and cx, cy the horizontal (resp. vertical) position of the optical center. Everything expressed in pixels.

2. How to turn on the color option?

Please switch to this branch and rebuild:

git fetch
git checkout feature/color
catkin build esim_ros

This will activate color support in ESIM, e.g. the images published will now be color images. To activate color event simulation (as in our paper), you need to add the following line to your config file:

--simulate_color_events=True

An example config file for color is available here.

Hope that helps!

winswang commented 4 years ago

Hi, thanks for your reply. I have checked out the feature/color branch but failed to build it. The error is:

Errors << esim_ros:make /mnt/f/Winston/sim_ws/logs/esim_ros/build.make.003.log make[2]: No rule to make target '/mnt/f/Winston/sim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg', needed by '/mnt/f/Winston/sim_ws/devel/.private/esim_ros/include/esim_ros/example_colorConfig.h'. Stop. make[1]: [CMakeFiles/esim_ros_gencfg.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... make: [all] Error 2 cd /mnt/f/Winston/sim_ws/build/esim_ros; catkin build --get-env esim_ros | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

There is also one warning before the build error in case helpful:

Warnings << esim_data_provider:make /mnt/f/Winston/sim_ws/logs/esim_data_provider/build.make.003.log In file included from /mnt/f/Winston/sim_ws/devel/.private/glog_catkin/include/glog/logging.h:86:0, from /mnt/f/Winston/sim_ws/src/ze_oss/ze_common/include/ze/common/logging.hpp:32, from /mnt/f/Winston/sim_ws/src/rpg_esim/event_camera_simulator/esim_data_provider/src/data_provider_factory.cpp:1: /mnt/f/Winston/sim_ws/src/rpg_esim/event_camera_simulator/esim_data_provider/src/data_provider_factory.cpp:28:8: warning: unknown escape sequence: '\040' "...based on optic flow: deltaT = lambda \ max(||du/dt||) where du/dt denotes the 2D optic flow field."); ^ /mnt/f/Winston/sim_ws/devel/.private/gflags_catkin/include/gflags/gflags.h:462:34: note: in definition of macro ‘MAYBE_STRIPPED_HELP’

define MAYBE_STRIPPED_HELP(txt) txt

^ /mnt/f/Winston/sim_ws/devel/.private/gflags_catkin/include/gflags/gflags.h:531:4: note: in expansion of macro ‘DEFINE_VARIABLE’ DEFINE_VARIABLE(double, D, name, val, txt) ^ /mnt/f/Winston/sim_ws/src/rpg_esim/event_camera_simulator/esim_data_provider/src/data_provider_factory.cpp:24:1: note: in expansion of macro ‘DEFINE_double’ DEFINE_double(simulation_adaptive_sampling_lambda, 0.5, ^ cd /mnt/f/Winston/sim_ws/build/esim_data_provider; catkin build --get-env esim_data_provider | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

Do you know how to fix this? I'm using Windows 10 with subsystem for Ubuntu16.04 (app). I was able to build and run data before checking out the feature/color branch.

supitalp commented 4 years ago

Hi, These errors do not make much sense to me. Could you try recompiling ESIM from scratch? You can force that by removing the build folders before rebuilding:

# remove build folders
roscd
cd ../
rm -rf build/esim_* devel/lib/libesim_*
# recompile
catkin build esim_ros

Please let me know if that helps.

winswang commented 4 years ago

Thank you for the timely reply. I was able to recompile and run the planar demo.

I have a remaining question: the planar demo does not stop, and every time I have to manually stop the process. I notice there are something remain yet to publish such as optic flow. The output after I ctrl+c is like this (otherwise it will not proceed/quit):

I0716 18:22:55.754420 26164 rosbag_writer.cpp:62] Finalizing the bag... I0716 18:22:56.010391 26164 rosbag_writer.cpp:64] Finished writing to bag: /mnt/f/Winston/data/esim-output/bags/color-out.bag [esim_node-2] process has finished cleanly log file: /home/winswang/.ros/log/7fb0a0f2-a7b3-11e9-a151-4cedfb3ce9d2/esim_node-2*.log ^C[hector_trajectory_server-5] killing on exit [optic_flow_viz-4] killing on exit [dvs_renderer-3] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

How do I automatically make it quit. And how can I publish the optical flow? Is there a demo?

supitalp commented 4 years ago

Hi,

1. How to automatically quit ESIM?

It is not possible to quit automatically when launching with roslaunch. However, it is possible to do so by launching the ESIM node directly, as follows (make sure to have a running roscore first):

roscd esim_ros
rosrun esim_ros esim_node --flagfile=cfg/example_color.cfg

The process will quit upon reaching the end of the camera trajectory.

2. How to publish optic flow maps?

The parameter --ros_publisher_optic_flow_rate (see here) specifies the output framerate of the optic flow maps (set it to a value > 0, e.g. 30 Hz).

To visualize the flow maps, launch ESIM:

roslaunch esim_ros esim.launch config:=cfg/example_color.cfg

and visualize the topic /flow_color or /flow_arrow in rqt_image_view for example.

Hope that helps.

winswang commented 4 years ago

Hi, thanks for the information. How do I make sure I have a running roscore?

supitalp commented 4 years ago

Hi, You can open a separate terminal, and run the following command:

roscore

If you are not too familiar with ROS, it could be helpful to have a look at the ROS tutorials :)

winswang commented 4 years ago

Thank you! It's very helpful!

DenisDiachkov commented 4 years ago

Hi, I am trying to install feature/color branch and I have trouble with building.

Errors     << esim_ros:make /home/imagingtre/catkin_ws/logs/esim_ros/build.make.014.log
/home/imagingtre/catkin_ws/build/esim_ros/setup_custom_pythonpath.sh: 5: exec: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: Permission denied
make[2]: *** [/home/imagingtre/catkin_ws/devel/.private/esim_ros/include/esim_ros/example_colorConfig.h] Error 126
make[1]: *** [CMakeFiles/esim_ros_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/imagingtre/catkin_ws/build/esim_ros; catkin build --get-env esim_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << esim_ros:make                        [ Exited with code 2 ]      
Failed    <<< esim_ros                             [ 0.6 seconds ]             
[build] Summary: 35 of 36 packages succeeded.                                  
[build]   Ignored:   21 packages were skipped or are blacklisted.              
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 11.2 seconds total.

In similar issues I've seen an advice to execute chmod +x for that cfg file. But then I get this whilst building:

Errors     << esim_ros:make /home/imagingtre/catkin_ws/logs/esim_ros/build.make.015.log
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 1: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --vmodule=data_provider_online_render=0,camera_simulator=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 2: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --random_seed=50: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 3: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --data_source=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 4: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --path_to_output_bag=/tmp/out.bag: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 6: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_pos=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 7: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_neg=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 8: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_sigma_pos=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 9: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_sigma_neg=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 11: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --exposure_time_ms=20.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 12: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --use_log_image=true: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 13: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --log_eps=0.001: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 14: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulate_color_events=true: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 16: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --calib_filename=/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 18: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_type=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 19: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_texture=/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/carpet.jpg: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 20: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_hfov_cam_source_deg=85.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 21: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_preprocess_gaussian_blur=0.25: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 22: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_preprocess_median_blur=11: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 23: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_x=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 24: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_y=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 25: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_z=-1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 26: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qw=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 27: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qx=1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 28: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qy=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 29: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qz=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 30: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_extend_border=1: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 31: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_zmin=1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 33: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_type=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 34: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_length_s=30.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 35: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_sampling_frequency_hz=5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 36: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_spline_order=5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 37: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_num_spline_segments=100: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 38: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_lambda=0.01: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 39: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_x=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 40: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_y=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 41: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_z=0.25: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 42: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wx=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 43: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wy=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 44: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wz=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 46: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_minimum_framerate=20.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 47: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_imu_rate=1000.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 48: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_adaptive_sampling_method=1: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 49: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_adaptive_sampling_lambda=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 51: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_frame_rate=10000000000000000: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 52: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_depth_rate=10: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 53: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_optic_flow_rate=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 54: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_pointcloud_rate=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 55: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_camera_info_rate=1: not found
make[2]: *** [/home/imagingtre/catkin_ws/devel/.private/esim_ros/include/esim_ros/example_colorConfig.h] Error 127
make[1]: *** [CMakeFiles/esim_ros_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/imagingtre/catkin_ws/build/esim_ros; catkin build --get-env esim_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..............................................................................
Failed     << esim_ros:make                        [ Exited with code 2 ]     
Failed    <<< esim_ros                             [ 0.6 seconds ]            
[build] Summary: 35 of 36 packages succeeded.                                 
[build]   Ignored:   21 packages were skipped or are blacklisted.             
[build]   Warnings:  None.                                                    
[build]   Abandoned: None.                                                    
[build]   Failed:    1 packages failed.                                       
[build] Runtime: 10.2 seconds total.

I will be very grateful for any help with that.

dnzrgn commented 4 years ago

Hi,

  1. How to automatically quit ESIM? It is not possible to quit automatically when launching with roslaunch. However, it is possible to do >so by launching the ESIM node directly, as follows (make sure to have a running roscore first):

It works for me when adding the 'required="true"' parameter to the node definition in the 'esim.launch' file:

<launch>

  <arg name="config" />

  <!-- Event camera simulator -->
  <node name="esim_node" pkg="esim_ros" type="esim_node" args="
    --v=1
    --vmodule=data_provider_from_folder=10
    --flagfile=$(find esim_ros)/$(arg config)
    " output="screen" required="true" />

  <include file="$(find esim_ros)/launch/visualization.launch" />

</launch>

I don't know if it's the way to go. Just wanted to mention it, because it really simplified my workflow and I had to spend some time finding it out.

ezragblock commented 2 months ago

Hi, I am trying to install feature/color branch and I have trouble with building.

Errors     << esim_ros:make /home/imagingtre/catkin_ws/logs/esim_ros/build.make.014.log
/home/imagingtre/catkin_ws/build/esim_ros/setup_custom_pythonpath.sh: 5: exec: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: Permission denied
make[2]: *** [/home/imagingtre/catkin_ws/devel/.private/esim_ros/include/esim_ros/example_colorConfig.h] Error 126
make[1]: *** [CMakeFiles/esim_ros_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/imagingtre/catkin_ws/build/esim_ros; catkin build --get-env esim_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << esim_ros:make                        [ Exited with code 2 ]      
Failed    <<< esim_ros                             [ 0.6 seconds ]             
[build] Summary: 35 of 36 packages succeeded.                                  
[build]   Ignored:   21 packages were skipped or are blacklisted.              
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 11.2 seconds total.

In similar issues I've seen an advice to execute chmod +x for that cfg file. But then I get this whilst building:

Errors     << esim_ros:make /home/imagingtre/catkin_ws/logs/esim_ros/build.make.015.log
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 1: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --vmodule=data_provider_online_render=0,camera_simulator=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 2: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --random_seed=50: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 3: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --data_source=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 4: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --path_to_output_bag=/tmp/out.bag: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 6: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_pos=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 7: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_neg=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 8: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_sigma_pos=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 9: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --contrast_threshold_sigma_neg=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 11: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --exposure_time_ms=20.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 12: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --use_log_image=true: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 13: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --log_eps=0.001: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 14: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulate_color_events=true: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 16: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --calib_filename=/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 18: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_type=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 19: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_texture=/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/carpet.jpg: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 20: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_hfov_cam_source_deg=85.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 21: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_preprocess_gaussian_blur=0.25: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 22: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_preprocess_median_blur=11: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 23: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_x=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 24: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_y=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 25: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_z=-1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 26: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qw=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 27: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qx=1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 28: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qy=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 29: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_plane_qz=0.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 30: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_extend_border=1: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 31: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --renderer_zmin=1.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 33: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_type=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 34: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_length_s=30.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 35: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_sampling_frequency_hz=5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 36: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_spline_order=5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 37: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_num_spline_segments=100: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 38: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_lambda=0.01: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 39: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_x=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 40: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_y=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 41: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_z=0.25: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 42: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wx=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 43: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wy=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 44: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --trajectory_multiplier_wz=0.15: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 46: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_minimum_framerate=20.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 47: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_imu_rate=1000.0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 48: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_adaptive_sampling_method=1: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 49: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --simulation_adaptive_sampling_lambda=0.5: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 51: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_frame_rate=10000000000000000: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 52: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_depth_rate=10: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 53: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_optic_flow_rate=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 54: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_pointcloud_rate=0: not found
/home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: 55: /home/imagingtre/catkin_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example_color.cfg: --ros_publisher_camera_info_rate=1: not found
make[2]: *** [/home/imagingtre/catkin_ws/devel/.private/esim_ros/include/esim_ros/example_colorConfig.h] Error 127
make[1]: *** [CMakeFiles/esim_ros_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/imagingtre/catkin_ws/build/esim_ros; catkin build --get-env esim_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..............................................................................
Failed     << esim_ros:make                        [ Exited with code 2 ]     
Failed    <<< esim_ros                             [ 0.6 seconds ]            
[build] Summary: 35 of 36 packages succeeded.                                 
[build]   Ignored:   21 packages were skipped or are blacklisted.             
[build]   Warnings:  None.                                                    
[build]   Abandoned: None.                                                    
[build]   Failed:    1 packages failed.                                       
[build] Runtime: 10.2 seconds total.

I will be very grateful for any help with that.

Did you end up solving this issue? I'm having the same issue.