diff --git a/photon-lib/py/photonlibpy/photonUtils.py b/photon-lib/py/photonlibpy/photonUtils.py
new file mode 100644
index 0000000000..e1ef687fdf
--- /dev/null
+++ b/photon-lib/py/photonlibpy/photonUtils.py
@@ -0,0 +1,101 @@
+import math
+
+from wpimath.geometry import (
+    Pose2d,
+    Pose3d,
+    Rotation2d,
+    Transform2d,
+    Transform3d,
+    Translation2d,
+)
+
+
+class PhotonUtils:
+    def __init__():
+        pass
+
+    @staticmethod
+    def calculateDistanceToTargetMeters(
+        cameraHeightMeters: float,
+        targetHeightMeters: float,
+        cameraPitchRadians: float,
+        targetPitchRadians: float,
+    ) -> float:
+        return (targetHeightMeters - cameraHeightMeters) / math.tan(
+            cameraPitchRadians + targetPitchRadians
+        )
+
+    @staticmethod
+    def estimateCameraToTargetTranslation(targetDistanceMeters: float, yaw: Rotation2d):
+        return Translation2d(
+            yaw.cos() * targetDistanceMeters, yaw.sin() * targetDistanceMeters
+        )
+
+    @staticmethod
+    def estimateCameraToTarget(
+        cameraToTargetTranslation: Translation2d,
+        fieldToTarget: Pose2d,
+        gyroAngle: Rotation2d,
+    ):
+        return Transform2d(
+            cameraToTargetTranslation, gyroAngle * (-1) - fieldToTarget.rotation()
+        )
+
+    @staticmethod
+    def estimateFieldToCamera(cameraToTarget: Transform2d, fieldToTarget: Pose2d):
+        targetToCamera = cameraToTarget.inverse()
+        return fieldToTarget.transformBy(targetToCamera)
+
+    @staticmethod
+    def estimateFieldToRobot(
+        cameraToTarget: Transform2d, fieldToTarget: Pose2d, cameraToRobot: Transform2d
+    ):
+        return PhotonUtils.estimateFieldToCamera(
+            cameraToTarget, fieldToTarget
+        ).transformBy(cameraToRobot)
+
+    @staticmethod
+    def estimateFieldToRobotAprilTag(
+        cameraToTarget: Transform3d,
+        fieldRelativeTagPose: Pose3d,
+        cameraToRobot: Transform3d,
+    ):
+        return fieldRelativeTagPose + cameraToTarget.inverse() + cameraToRobot
+
+    @staticmethod
+    def getYawToPose(robotPose: Pose2d, targetPose: Pose2d):
+        relativeTr1 = targetPose.relativeTo(robotPose).translation()
+        return Rotation2d(relativeTr1.X(), relativeTr1.Y())
+
+    @staticmethod
+    def getDistanceToPose(robotPose: Pose2d, targetPose: Pose2d):
+        return robotPose.translation().distance(targetPose.translation())
+
+    @staticmethod
+    def estimateFieldToRobot(
+        cameraHeightMeters: float,
+        targetHeightMeters: float,
+        cameraPitchRadians: float,
+        targetPitchRadians: float,
+        targetYaw: Rotation2d,
+        gyroAngle: Rotation2d,
+        fieldToTarget: Pose2d,
+        cameraToRobot: Transform2d,
+    ):
+        return PhotonUtils.estimateFieldToRobot(
+            PhotonUtils.estimateCameraToTarget(
+                PhotonUtils.estimateCameraToTargetTranslation(
+                    PhotonUtils.calculateDistanceToTargetMeters(
+                        cameraHeightMeters,
+                        targetHeightMeters,
+                        cameraPitchRadians,
+                        targetPitchRadians,
+                    ),
+                    targetYaw,
+                ),
+                fieldToTarget,
+                gyroAngle,
+            ),
+            fieldToTarget,
+            cameraToRobot,
+        )
diff --git a/photon-lib/py/test/visionSystemSim_test.py b/photon-lib/py/test/visionSystemSim_test.py
index df5dba4c13..5f365765cc 100644
--- a/photon-lib/py/test/visionSystemSim_test.py
+++ b/photon-lib/py/test/visionSystemSim_test.py
@@ -3,6 +3,7 @@
 import pytest
 from photonlibpy.estimation import TargetModel, VisionEstimation
 from photonlibpy.photonCamera import PhotonCamera
+from photonlibpy.photonUtils import PhotonUtils
 from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
 from robotpy_apriltag import AprilTag, AprilTagFieldLayout
 from wpimath.geometry import (
@@ -333,11 +334,10 @@ def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
     assert target is not None
     assert target.getYaw() == pytest.approx(0.0, abs=0.5)
 
-    # TODO Enable when PhotonUtils is ported
-    # dist = PhotonUtils.calculateDistanceToTarget(
-    #    robotToCamera.Z(), targetPose.Z(), -pitchParam, math.degrees(target.getPitch())
-    # )
-    # assert dist == pytest.approx(distParam, abs=0.25)
+    dist = PhotonUtils.calculateDistanceToTargetMeters(
+        robotToCamera.Z(), targetPose.Z(), -pitchParam, math.degrees(target.getPitch())
+    )
+    assert dist == pytest.approx(distParam, abs=0.25)
 
 
 def test_MultipleTargets() -> None: