try converting

Author: samfreund

.github/workflows/photon-api-docs.yml

@@ -105,7 +105,7 @@ jobs:
           pattern: docs-*
       - run: find .
       - name: Publish Docs To Development
-        if: github.ref == 'refs/heads/main'
+        # if: github.ref == 'refs/heads/main'
         uses: up9cloud/[email protected]
         env:
           HOST: ${{ secrets.WEBMASTER_SSH_HOST }}

photon-lib/py/mkdocs.yml

@@ -13,7 +13,6 @@ plugins:
         python:
           options:
             show_source: false
-            docstring_style: sphinx
           paths:
             - "."
   - gen-files:

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

@@ -33,7 +33,8 @@ def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
         """Creates a new :class:`np.array` with these 3d translations. The opencv tvec is a vector with
         three elements representing {x, y, z} in the EDN coordinate system.
 
-        :param translations: The translations to convert into a np.array
+        Args:
+            translations: The translations to convert into a np.array
         """
 
         retVal: list[list] = []
@@ -51,7 +52,8 @@ def rotationToRVec(rotation: Rotation3d) -> np.ndarray:
         three elements representing the axis scaled by the angle in the EDN coordinate system. (angle =
         norm, and axis = rvec / norm)
 
-        :param rotation: The rotation to convert into a np.array
+        Args:
+            rotation: The rotation to convert into a np.array
         """
 
         retVal: list[np.ndarray] = []
@@ -115,12 +117,16 @@ def reorderCircular(
 
         ({1,2,3}, true, 1) == {3,2,1}
 
-        :param elements:   list elements
-        :param backwards:  If indexing should happen in reverse (0, size-1, size-2, ...)
-        :param shiftStart: How much the initial index should be shifted (instead of starting at index 0,
-                           start at shiftStart, negated if backwards)
+        Args:
+            elements: list elements
+            backwards: If indexing should happen in reverse (0, size-1,
+                size-2, ...)
+            shiftStart: How much the initial index should be shifted
+                (instead of starting at index 0, start at shiftStart,
+                negated if backwards)
 
-        :returns: Reordered list
+        Returns:
+            Reordered list
         """
 
         size = len(elements)
@@ -154,7 +160,8 @@ def tVecToTranslation(tvecInput: np.ndarray) -> Translation3d:
         """Returns a new 3d translation from this :class:`.Mat`. The opencv tvec is a vector with three
         elements representing {x, y, z} in the EDN coordinate system.
 
-        :param tvecInput: The tvec to create a Translation3d from
+        Args:
+            tvecInput: The tvec to create a Translation3d from
         """
 
         return OpenCVHelp.translationEDNToNWU(Translation3d(tvecInput))
@@ -165,7 +172,8 @@ def rVecToRotation(rvecInput: np.ndarray) -> Rotation3d:
         elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm,
         and axis = rvec / norm)
 
-        :param rvecInput: The rvec to create a Rotation3d from
+        Args:
+            rvecInput: The rvec to create a Rotation3d from
         """
 
         return OpenCVHelp.rotationEDNToNWU(Rotation3d(rvecInput))
@@ -189,20 +197,27 @@ def solvePNP_Square(
         This method is intended for use with individual AprilTags, and will not work unless 4 points
         are provided.
 
-        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
-        :param distCoeffs:   The camera distortion matrix in standard opencv form
-        :param modelTrls:    The translations of the object corners. These should have the object pose as
-                             their origin. These must come in a specific, pose-relative order (in NWU):
-
-                             - Point 0: [0, -squareLength / 2, squareLength / 2]
-                             - Point 1: [0, squareLength / 2, squareLength / 2]
-                             - Point 2: [0, squareLength / 2, -squareLength / 2]
-                             - Point 3: [0, -squareLength / 2, -squareLength / 2]
-        :param imagePoints:  The projection of these 3d object points into the 2d camera image. The order
-                             should match the given object point translations.
-
-        :returns: The resulting transformation that maps the camera pose to the target pose and the
-                  ambiguity if an alternate solution is available.
+        Args:
+            cameraMatrix: The camera intrinsics matrix in standard
+                opencv form
+            distCoeffs: The camera distortion matrix in standard opencv
+                form
+            modelTrls: The translations of the object corners. These
+                should have the object pose as their origin. These must
+                come in a specific, pose-relative order (in NWU):
+
+                - Point 0: [0, -squareLength / 2, squareLength / 2]
+                - Point 1: [0, squareLength / 2, squareLength / 2]
+                - Point 2: [0, squareLength / 2, -squareLength / 2]
+                - Point 3: [0, -squareLength / 2, -squareLength / 2]
+            imagePoints: The projection of these 3d object points into
+                the 2d camera image. The order should match the given
+                object point translations.
+
+        Returns:
+            The resulting transformation that maps the camera pose to
+            the target pose and the ambiguity if an alternate solution
+            is available.
         """
         modelTrls = OpenCVHelp.reorderCircular(modelTrls, True, -1)
         imagePoints = np.array(OpenCVHelp.reorderCircular(imagePoints, True, -1))
@@ -283,15 +298,22 @@ def solvePNP_SQPNP(
         solution-- if you are intending to use solvePNP on a single AprilTag, see {@link
         #solvePNP_SQUARE} instead.
 
-        :param cameraMatrix: The camera intrinsics matrix in standard opencv form
-        :param distCoeffs:   The camera distortion matrix in standard opencv form
-        :param objectTrls:   The translations of the object corners, relative to the field.
-        :param imagePoints:  The projection of these 3d object points into the 2d camera image. The order
-                             should match the given object point translations.
-
-        :returns: The resulting transformation that maps the camera pose to the target pose. If the 3d
-                  model points are supplied relative to the origin, this transformation brings the camera to
-                  the origin.
+        Args:
+            cameraMatrix: The camera intrinsics matrix in standard
+                opencv form
+            distCoeffs: The camera distortion matrix in standard opencv
+                form
+            objectTrls: The translations of the object corners, relative
+                to the field.
+            imagePoints: The projection of these 3d object points into
+                the 2d camera image. The order should match the given
+                object point translations.
+
+        Returns:
+            The resulting transformation that maps the camera pose to
+            the target pose. If the 3d model points are supplied
+            relative to the origin, this transformation brings the
+            camera to the origin.
         """
 
         objectMat = np.array(OpenCVHelp.translationToTVec(modelTrls))

photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py

@@ -14,8 +14,9 @@ def __init__(
         Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose
         transform as if the origin was transformed by these components instead.
 
-        :param rot: The rotation component
-        :param trl: The translation component
+        Args:
+            rot: The rotation component
+            trl: The translation component
         """
         self.rot = rot
         self.trl = trl
@@ -61,7 +62,8 @@ def makeRelativeTo(cls, pose: Pose3d) -> Self:
         """The rotation-translation transformation that makes poses in the world consider this pose as the
         new origin, or change the basis to this pose.
 
-        :param pose: The new origin
+        Args:
+            pose: The new origin
         """
         return cls(pose.rotation(), pose.translation()).inverse()
 

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

@@ -106,8 +106,9 @@ def createArbitrary(cls, verts: List[Translation3d]) -> Self:
         vertices are planar(x == 0). More than 2 vertices must be given. If this is a planar model, the
         vertices should define a non-intersecting contour.
 
-        :param vertices: Translations representing the vertices of this target model relative to its
-                         pose.
+        Args:
+            vertices: Translations representing the vertices of this
+                target model relative to its pose.
         """
 
         tm = cls()
@@ -151,10 +152,12 @@ def getOrientedPose(cls, tgtTrl: Translation3d, cameraTrl: Translation3d):
         to the camera translation. This is used for spherical targets which should not have their
         projection change regardless of their own rotation.
 
-        :param tgtTrl:    This target's translation
-        :param cameraTrl: Camera's translation
+        Args:
+            tgtTrl: This target's translation
+            cameraTrl: Camera's translation
 
-        :returns: This target's pose oriented to the camera
+        Returns:
+            This target's pose oriented to the camera
         """
 
         relCam = cameraTrl - tgtTrl

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

@@ -41,13 +41,19 @@ def estimateCamPosePNP(
 
         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.
+        Args:
+            cameraMatrix: The camera intrinsics matrix in standard
+                opencv form
+            distCoeffs: The camera distortion matrix in standard opencv
+                form
+            visTags: The visible tags reported by PV. Non-tag targets
+                are automatically excluded.
+            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