diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index a55cb23..53464ac 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -67,6 +67,7 @@
     main = "load_sift_training.py",
     srcs_version = "PY2AND3",
     deps = [
+        ":load_sift_training",
         "//external:python-glog",
         "//y2020/vision/sift:sift_fbs_python",
         "@bazel_tools//tools/python/runfiles",
diff --git a/y2020/vision/tools/python_code/camera_definition.py b/y2020/vision/tools/python_code/camera_definition.py
index da20a52..b8c71ff 100644
--- a/y2020/vision/tools/python_code/camera_definition.py
+++ b/y2020/vision/tools/python_code/camera_definition.py
@@ -9,6 +9,7 @@
 
 glog.setLevel("WARN")
 
+
 class CameraIntrinsics:
     def __init__(self):
         self.camera_matrix = []
@@ -27,6 +28,7 @@
     def __init__(self):
         self.camera_int = CameraIntrinsics()
         self.camera_ext = CameraExtrinsics()
+        self.turret_ext = None
         self.node_name = ""
         self.team_number = -1
 
@@ -60,14 +62,22 @@
         [[np.cos(camera_pitch), 0.0, -np.sin(camera_pitch)], [0.0, 1.0, 0.0],
          [np.sin(camera_pitch), 0.0,
           np.cos(camera_pitch)]])
-    web_cam_ext.R = np.array(camera_pitch_matrix * np.matrix(
-        [[0., 0., 1.], [-1, 0, 0], [0, -1., 0]]))
-    # Tape measure calibration-- need to pull from CAD or automate this
+    web_cam_ext.R = np.array(
+        camera_pitch_matrix *
+        np.matrix([[0., 0., 1.], [-1, 0, 0], [0, -1., 0]]))
+    #web_cam_ext.T = np.array([0., 0., 0.])
     web_cam_ext.T = np.array([2.0 * 0.0254, -6.0 * 0.0254, 41.0 * 0.0254])
+    fixed_ext = CameraExtrinsics()
+    fixed_ext.R = np.array([[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0],
+                            [0.0, 0.0, 1.0]])
+    fixed_ext.T = np.array([0.0, 0.0, 0.0])
 
     web_cam_params = CameraParameters()
     web_cam_params.camera_int = web_cam_int
-    web_cam_params.camera_ext = web_cam_ext
+    # Fixed extrinsics are for the turret, which is centered on the robot and
+    # pointed straight backwards.
+    web_cam_params.camera_ext = fixed_ext
+    web_cam_params.turret_ext = web_cam_ext
 
     camera_list = []
 
@@ -98,8 +108,8 @@
             # Look for match, and replace camera_intrinsics
             for camera_calib in camera_list:
                 if camera_calib.node_name == node_name and camera_calib.team_number == team_number:
-                    glog.info("Found calib for %s, team #%d" % (node_name,
-                                                                team_number))
+                    glog.info("Found calib for %s, team #%d" %
+                              (node_name, team_number))
                     camera_calib.camera_int.camera_matrix = copy.copy(
                         camera_matrix)
                     camera_calib.camera_int.dist_coeffs = copy.copy(
diff --git a/y2020/vision/tools/python_code/camera_definition_test.py b/y2020/vision/tools/python_code/camera_definition_test.py
index 732dbb8..f157ba3 100644
--- a/y2020/vision/tools/python_code/camera_definition_test.py
+++ b/y2020/vision/tools/python_code/camera_definition_test.py
@@ -2,26 +2,9 @@
 import math
 import numpy as np
 
-
-class CameraIntrinsics:
-    def __init__(self):
-        self.camera_matrix = []
-        self.dist_coeffs = []
-
-
-class CameraExtrinsics:
-    def __init__(self):
-        self.R = []
-        self.T = []
-
-
-class CameraParameters:
-    def __init__(self):
-        self.camera_int = CameraIntrinsics()
-        self.camera_ext = CameraExtrinsics()
-        self.node_name = ""
-        self.team_number = -1
-
+from y2020.vision.tools.python_code.camera_definition import (CameraIntrinsics,
+                                                              CameraExtrinsics,
+                                                              CameraParameters)
 
 ### CAMERA DEFINITIONS
 
@@ -56,6 +39,6 @@
         camera_base = copy.deepcopy(web_cam_params)
         camera_base.node_name = node_name
         camera_base.team_number = team_number
-        camera_base.camera_ext.T = np.asarray(
-            np.float32([i + 1, i + 1, i + 1]))
+        camera_base.camera_ext.T = np.asarray(np.float32([i + 1, i + 1,
+                                                          i + 1]))
         camera_list.append(camera_base)
diff --git a/y2020/vision/tools/python_code/load_sift_training.py b/y2020/vision/tools/python_code/load_sift_training.py
index 5ca574d..a21a06f 100644
--- a/y2020/vision/tools/python_code/load_sift_training.py
+++ b/y2020/vision/tools/python_code/load_sift_training.py
@@ -27,6 +27,19 @@
     return output_list
 
 
+def list_to_transformation_matrix(values, fbb):
+    """Puts a list of values into an FBB TransformationMatrix."""
+
+    TransformationMatrix.TransformationMatrixStartDataVector(fbb, len(values))
+    for n in reversed(values):
+        fbb.PrependFloat32(n)
+    list_offset = fbb.EndVector(len(values))
+
+    TransformationMatrix.TransformationMatrixStart(fbb)
+    TransformationMatrix.TransformationMatrixAddData(fbb, list_offset)
+    return TransformationMatrix.TransformationMatrixEnd(fbb)
+
+
 def main():
 
     target_data_list = None
@@ -138,18 +151,15 @@
     for camera_calib in camera_calib_list:
         fixed_extrinsics_list = rot_and_trans_to_list(
             camera_calib.camera_ext.R, camera_calib.camera_ext.T)
-        TransformationMatrix.TransformationMatrixStartDataVector(
-            fbb, len(fixed_extrinsics_list))
-        for n in reversed(fixed_extrinsics_list):
-            fbb.PrependFloat32(n)
-        fixed_extrinsics_data_offset = fbb.EndVector(
-            len(fixed_extrinsics_list))
+        fixed_extrinsics_vector = list_to_transformation_matrix(
+            fixed_extrinsics_list, fbb)
 
-        TransformationMatrix.TransformationMatrixStart(fbb)
-        TransformationMatrix.TransformationMatrixAddData(
-            fbb, fixed_extrinsics_data_offset)
-        fixed_extrinsics_vector = TransformationMatrix.TransformationMatrixEnd(
-            fbb)
+        turret_extrinsics_vector = None
+        if camera_calib.turret_ext is not None:
+            turret_extrinsics_list = rot_and_trans_to_list(
+                camera_calib.turret_ext.R, camera_calib.turret_ext.T)
+            turret_extrinsics_vector = list_to_transformation_matrix(
+                turret_extrinsics_list, fbb)
 
         # TODO: Need to add in distortion coefficients here
         # For now, just send camera paramter matrix (fx, fy, cx, cy)
@@ -179,6 +189,9 @@
             fbb, dist_coeffs_vector)
         CameraCalibration.CameraCalibrationAddFixedExtrinsics(
             fbb, fixed_extrinsics_vector)
+        if turret_extrinsics_vector is not None:
+            CameraCalibration.CameraCalibrationAddTurretExtrinsics(
+                fbb, turret_extrinsics_vector)
         camera_calibration_vector.append(
             CameraCalibration.CameraCalibrationEnd(fbb))