env op• Data kinds: table × matrix × matrix → table
• Call: import fullseye as fs; fs.ledger.env_render(world: 'dict', pose, K, width: 'int' = 640, height: 'int' = 400, env: 'Optional[dict]' = None, *, ego=None, ego_pose=None, shadows: 'bool' = True, shadow_cache: 'Optional[dict]' = None, shadow_res: 'int' = 1024) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import driveenv; driveenv.env_render(world: 'dict', pose, K, width: 'int' = 640, height: 'int' = 400, env: 'Optional[dict]' = None, *, ego=None, ego_pose=None, shadows: 'bool' = True, shadow_cache: 'Optional[dict]' = None, shadow_res: 'int' = 1024) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("env_render"))
Renders sun, sky, shadows, lamps, headlights, fog, rain and glare in physical units.
> The detailed description below is the original text — the summary and the headings are translated.
dict : color(カメラの線形 RGB [0,1]、tone_map で圧縮 —— 画像処理はこれを読む)、display(sRGB に符号化した
表示用、図だけに使う)、radiance(RGB の輝度 cd/m²、線形)、depth・label・ face(driveworld.world_camera と同じ)、shadow(bool、太陽の影の画素)、exposure(使った倍率)、veil(光幕輝度 cd/m² (H,W))、illuminance(面の照度 lx (H,W))。
ego_pose=(x, y, yaw) = 前照灯を付ける自車の姿勢(前端 2.25 m・左右 ±0.6 m・高さ 0.65 m に 2 灯)。shadow_cache に dict を渡すと太陽のシャドウマップを使い回す(太陽と世界が変わらない間)。
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• poc_driving_weather — py -3.11 examples/poc_driving_weather.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
env)julian_day · sun_at · sun_events · sun_vector · sun_illuminance · koschmieder · mor_from_beta · beta_from_mor
*Provenance: driveenv.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.