I know that radiance is expressed as $$[\text{radiance}] = \frac{\rm W}{\rm {sr} \cdot m^2}$$

and

$$[\text{irradiance}] = \frac{\rm W}{\rm m^2}$$

but what is the relation between these two quantities? Is irradiance commonly used to referring to power reflected on a surface? And radiance from a direct source?

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rradiance is the power of electromagnetic radiation per unit area (radiative flux) incident on a surface. Radiant emittance or radiant exitance is the power per unit area radiated by a surface. The SI units for all of these quantities are watts per square meter (W/m$^2$), while the cgs units are ergs per square centimeter per second (erg/cm$^2$/s, often used in astronomy). These quantities are sometimes called intensity, but this usage leads to confusion with radiant intensity, which has different units.
All of these quantities characterize the total amount of radiation present, at all frequencies. It is also common to consider each frequency in the spectrum separately. When this is done for radiation incident on a surface, it is called spectral irradiance, and has SI units W/m$^3$, or commonly W/m$^2$/nm.