Before revision:  Given that subsequent subsystems in the autonomous vehicle pipeline are unaware of the visual realism of the simulation, when developing modules downstream of perception the appearance is of little consequence - rather it is how the perception system performs in the prevailing weather condition that is important .
After revision:  Given that subsequent subsystems in the autonomous vehicle pipeline are unaware of the visual realism of the simulation, when developing modules downstream of perception the appearance is of little consequence - rather it is how the perception system output, rather than focusing on subjective visual realism of the input - whether in simulation or the real world .