CARLA's event camera vs rpg_esim

[qhaas]

I was in need of an event (i.e. DVS / Neuromorphic) camera simulator. I read this paper from the RPG lab at University of Zurich and I started fiddling with their open-source (UnrealEngine based) event camera simulator. The paper makes a good argument as to the performance of their event camera simulator (e.g. adaptive sampling).

I have been a CARLA user for years, so I was excited to see an event camera added with CARLA 0.9.10:

Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html

Later, it would appear that the RPG lab is contributing to CARLA with CARLA 0.9.12:

For the Optical Flow Camera, we thank the team at RPG Lab at the University of Zurich!

CARLA is a more general simulator than rpg_esim and easier to setup (especially on distributions where getting ROS working is tricky). Given RPG is apparently contributing to CARLA, has the Event Camera in CARLA reached parity with rpg_esim?