diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
index 8d8693d607..9d9afce223 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
@@ -87,12 +87,6 @@ private MultiTargetPNPResults calculateTargetPose(List<TrackedTarget> targetList
         return ret;
     }
 
-    Mat rotationMatrix = new Mat();
-    Mat inverseRotationMatrix = new Mat();
-    Mat pzeroWorld = new Mat();
-    Mat kMat = new Mat();
-    Mat scaledTvec;
-
     public static class MultiTargetPNPPipeParams {
         private final CameraCalibrationCoefficients cameraCoefficients;
         private final AprilTagFieldLayout atfl;