Implementation:CARLA simulator Carla OpendriveGenerationParameters

Knowledge Sources	CARLA
Domains	OpenDRIVE, Map Generation, RPC Serialization
Last Updated	2026-02-15 05:00 GMT

Overview

OpendriveGenerationParameters is an RPC-serializable struct that configures the procedural mesh generation from OpenDRIVE road network files.

Description

Defined in the carla::rpc namespace, this struct holds parameters controlling how CARLA generates 3D road geometry from OpenDRIVE descriptions:

• vertex_distance (default 2.0): spacing between mesh vertices along roads
• max_road_length (default 50.0): maximum road segment length before splitting
• wall_height (default 1.0): height of road boundary walls
• additional_width (default 0.6): extra width added to roads
• vertex_width_resolution (default 4.0): resolution across road width
• simplification_percentage (default 20.0): mesh simplification percentage
• smooth_junctions (default true): whether to smooth junction geometry
• enable_mesh_visibility (default true): whether generated mesh is visible
• enable_pedestrian_navigation (default true): whether to generate pedestrian navigation mesh

Note: vertex_width_resolution and simplification_percentage are not included in the MsgPack serialization array.

Usage

Use this struct when loading or generating maps from OpenDRIVE files to control the quality, resolution, and features of the generated road geometry.

Code Reference

Source Location

• Repository: CARLA
• File: LibCarla/source/carla/rpc/OpendriveGenerationParameters.h

Signature

namespace carla {
namespace rpc {

  struct OpendriveGenerationParameters {
    OpendriveGenerationParameters() {}
    OpendriveGenerationParameters(
        double v_distance, double max_road_len,
        double w_height, double a_width,
        bool smooth_junc, bool e_visibility, bool e_pedestrian);

    double vertex_distance = 2.0;
    double max_road_length = 50.0;
    double wall_height = 1.0;
    double additional_width = 0.6;
    double vertex_width_resolution = 4.0f;
    float simplification_percentage = 20.0f;
    bool smooth_junctions = true;
    bool enable_mesh_visibility = true;
    bool enable_pedestrian_navigation = true;

    MSGPACK_DEFINE_ARRAY(vertex_distance, max_road_length,
        wall_height, additional_width, smooth_junctions,
        enable_mesh_visibility, enable_pedestrian_navigation);
  };

} // namespace rpc
} // namespace carla

Import

#include "carla/rpc/OpendriveGenerationParameters.h"

I/O Contract

Field	Type	Default	Description
vertex_distance	double	2.0	Spacing between vertices along road
max_road_length	double	50.0	Max road segment length
wall_height	double	1.0	Road boundary wall height
additional_width	double	0.6	Extra width added to roads
vertex_width_resolution	double	4.0	Resolution across road width (not serialized)
simplification_percentage	float	20.0	Mesh simplification percentage (not serialized)
smooth_junctions	bool	true	Smooth junction geometry
enable_mesh_visibility	bool	true	Generated mesh visibility
enable_pedestrian_navigation	bool	true	Generate pedestrian nav mesh

Usage Examples

#include "carla/rpc/OpendriveGenerationParameters.h"

carla::rpc::OpendriveGenerationParameters params;
params.vertex_distance = 1.0;       // finer mesh resolution
params.max_road_length = 100.0;
params.smooth_junctions = true;
params.enable_pedestrian_navigation = true;

// Pass params when loading an OpenDRIVE map

Related Pages

• CARLA_simulator_Carla_OdrSpiral
• CARLA_simulator_Carla_MeshSimplify
• Environment:CARLA_simulator_Carla_Simulation_Runtime