env_render — DRIVE `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"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

太陽・空・影・灯火・前照灯・霧・雨・まぶしさを物理の単位で描く。

Returns

-------

dict : `color(カメラの線形 RGB [0,1]、:func: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)。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_driving_weather — py -3.11 examples/poc_driving_weather.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`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).*

env_render — DRIVE env op