diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 57389bf0f..942cd1c9f 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -67,7 +67,7 @@ public class PhotonPoseEstimator {
     private AprilTagFieldLayout fieldTags;
     private PoseStrategy strategy;
     private final PhotonCamera camera;
-    private final Transform3d robotToCamera;
+    private Transform3d robotToCamera;
 
     private Pose3d lastPose;
     private Pose3d referencePose;
@@ -183,6 +183,21 @@ public class PhotonPoseEstimator {
         setLastPose(new Pose3d(lastPose));
     }
 
+    /** @return The current transform from the center of the robot to the camera mount position */
+    public Transform3d getRobotToCameraTransform() {
+        return robotToCamera;
+    }
+
+    /**
+     * Useful for pan and tilt mechanisms and such.
+     *
+     * @param robotToCamera The current transform from the center of the robot to the camera mount
+     *     position
+     */
+    public void setRobotToCameraTransform(Transform3d robotToCamera) {
+        this.robotToCamera = robotToCamera;
+    }
+
     /**
      * Poll data from the configured cameras and update the estimated position of the robot. Returns
      * empty if there are no cameras set or no targets were found from the cameras.
diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
index 16e18b9ae..6407732ee 100644
--- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
@@ -123,6 +123,24 @@ class PhotonPoseEstimator {
     this->referencePose = referencePose;
   }
 
+  /**
+   * @return The current transform from the center of the robot to the camera
+   *         mount position.
+   */
+  inline frc::Transform3d GetRobotToCameraTransform() {
+    return m_robotToCamera;
+  }
+
+  /**
+   * Useful for pan and tilt mechanisms, or cameras on turrets
+   *
+   * @param robotToCamera The current transform from the center of the robot to
+   * the camera mount position.
+   */
+  inline void SetRobotToCameraTransform(frc::Transform3d robotToCamera) {
+    m_robotToCamera = robotToCamera;
+  }
+
   /**
    * Update the stored last pose. Useful for setting the initial estimate when
    * using the CLOSEST_TO_LAST_POSE strategy.