Add messages for SIFT features
Change-Id: I05a76480ce93cc3d108624621ebe8d5a6b3c9fd6
diff --git a/y2020/vision/sift/sift_training.fbs b/y2020/vision/sift/sift_training.fbs
new file mode 100644
index 0000000..2af0233
--- /dev/null
+++ b/y2020/vision/sift/sift_training.fbs
@@ -0,0 +1,23 @@
+include "y2020/vision/sift/sift.fbs";
+
+namespace frc971.vision.sift;
+
+// Represents a single image we train against.
+table TrainingImage {
+ features:[Feature];
+
+ // Field coordinates of the target, represented as a transformation matrix
+ // from the target to the field. See CameraPose in :sift_fbs for details of
+ // the conventions of this.
+ field_to_target:TransformationMatrix;
+
+ // Coordinates of the target in the training image.
+ camera_to_target:TransformationMatrix;
+}
+
+// Represents the information used to match incoming images against.
+table TrainingData {
+ images:[TrainingImage];
+}
+
+root_type TrainingData;