sphinxify java docs for python code (#1575)

photon-lib/py/photonlibpy/estimation/visionEstimation.py

@@ -11,6 +11,7 @@ class VisionEstimation:
     def getVisibleLayoutTags(
         visTags: list[PhotonTrackedTarget], layout: AprilTagFieldLayout
     ) -> list[AprilTag]:
+        """Get the visible :class:`.AprilTag`s which are in the tag layout using the visible tag IDs."""
         retVal: list[AprilTag] = []
         for tag in visTags:
             id = tag.getFiducialId()
@@ -30,12 +31,31 @@ class VisionEstimation:
         layout: AprilTagFieldLayout,
         tagModel: TargetModel,
     ) -> PnpResult | None:
+        """Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the
+        field-to-camera transformation. If only one tag is visible, the result may have an alternate
+        solution.
+
+        **Note:** The returned transformation is from the field origin to the camera pose!
+
+        With only one tag: {@link OpenCVHelp#solvePNP_SQUARE}
+
+        With multiple tags: {@link OpenCVHelp#solvePNP_SQPNP}
+
+        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
+        :param distCoeffs:   The camera distortion matrix in standard opencv form
+        :param visTags:      The visible tags reported by PV. Non-tag targets are automatically excluded.
+        :param tagLayout:    The known tag layout on the field
+
+        :returns: The transformation that maps the field origin to the camera pose. Ensure the {@link
+                  PnpResult} are present before utilizing them.
+        """
         if len(visTags) == 0:
             return None
 
         corners: list[TargetCorner] = []
         knownTags: list[AprilTag] = []
 
+        # ensure these are AprilTags in our layout
         for tgt in visTags:
             id = tgt.getFiducialId()
             maybePose = layout.getTagPose(id)
@@ -53,6 +73,7 @@ class VisionEstimation:
 
         points = OpenCVHelp.cornersToPoints(corners)
 
+        # single-tag pnp
         if len(knownTags) == 1:
             camToTag = OpenCVHelp.solvePNP_Square(
                 cameraMatrix, distCoeffs, tagModel.getVertices(), points
@@ -74,6 +95,7 @@ class VisionEstimation:
                 altReprojErr=camToTag.altReprojErr,
             )
             return result
+        # multi-tag pnp
         else:
             objectTrls: list[Translation3d] = []
             for tag in knownTags: