diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 119aa3155..e51d0fe14 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -367,11 +367,14 @@ public class PhotonPoseEstimator {
         // Arrays we need declared up front
         var visCorners = new ArrayList<TargetCorner>();
         var knownVisTags = new ArrayList<AprilTag>();
-        var fieldToCams = new ArrayList<Pose3d>();
-        var fieldToCamsAlt = new ArrayList<Pose3d>();
 
         if (result.getTargets().size() < 2) {
-            // Run fallback strategy instead
+            return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
+        }
+
+        boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent();
+
+        if (!hasCalibData) {
             return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
         }
 
@@ -388,33 +391,18 @@ public class PhotonPoseEstimator {
 
             // actual layout poses of visible tags -- not exposed, so have to recreate
             knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose));
-
-            fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse()));
-            fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse()));
         }
 
-        boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent();
+        var pnpResults =
+                VisionEstimation.estimateCamPosePNP(
+                        cameraMatrixOpt.get(), distCoeffsOpt.get(), visCorners, knownVisTags);
+        var best =
+                new Pose3d()
+                        .plus(pnpResults.best) // field-to-camera
+                        .plus(robotToCamera.inverse()); // field-to-robot
 
-        // multi-target solvePNP
-        if (hasCalibData) {
-            var cameraMatrix = cameraMatrixOpt.get();
-            var distCoeffs = distCoeffsOpt.get();
-            var pnpResults =
-                    VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags);
-            var best =
-                    new Pose3d()
-                            .plus(pnpResults.best) // field-to-camera
-                            .plus(robotToCamera.inverse()); // field-to-robot
-            // var alt = new Pose3d()
-            // .plus(pnpResults.alt) // field-to-camera
-            // .plus(robotToCamera.inverse()); // field-to-robot
-
-            return Optional.of(
-                    new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets()));
-        } else {
-            // TODO fallback strategy? Should we just always do solvePNP?
-            return Optional.empty();
-        }
+        return Optional.of(
+                new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets()));
     }
 
     /**
diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
index 3a06ca9a7..b1d242e44 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
@@ -359,11 +359,17 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
     std::optional<cv::Mat> distCoeffs) {
   using namespace frc;
 
+  // Need at least 2 targets
   if (!result.HasTargets() || result.GetTargets().size() < 2) {
     return Update(result, std::nullopt, std::nullopt,
                   this->multiTagFallbackStrategy);
   }
 
+  if (!camMat || !distCoeffs) {
+    return Update(result, std::nullopt, std::nullopt,
+                  this->multiTagFallbackStrategy);
+  }
+
   auto const targets = result.GetTargets();
 
   // List of corners mapped from 3d space (meters) to the 2d camera screen
@@ -393,10 +399,6 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
   cv::Mat const rvec(3, 1, cv::DataType<double>::type);
   cv::Mat const tvec(3, 1, cv::DataType<double>::type);
 
-  if (!camMat || !distCoeffs) {
-    return std::nullopt;
-  }
-
   cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(),
                rvec, tvec, false, cv::SOLVEPNP_SQPNP);