Start line marker

Below is a photo from a YetiBorg of the starting line marker in the various traffic light states.
The YetiBorg itself is sat at the start-line ready to go.

The black beam is where the traffic lights are situated, the red board below this signifies the starting position.
There is a second black beam over the start line itself, but as you can see it is not visible when at the start line.
The angled shot from one of our track cameras shows both markers and where the YetiBorg actually is.

Our standard code looks for this red board at a specific part of the image.
The height of the board allows it to be spotted even if the YetiBorg is facing it at an angle.

There are a few things to note if you make your own start light detection code:

1. The center of the LEDs shows up as white for both colours
2. The green LEDs are somewhat brighter than the red ones
3. We will try and place the YetiBorgs as centrally as possible, but it will not be pixel-perfect placement
4. With the green LEDs on the image colour balance is shifted towards green
5. The green and red LEDs are next to each over, either side of the lane center